cmake: changes required for qurt build

Fixed CMakeLists.txt to be consistent with module.mk
Converted PX4_TICKS_PER_SEC to define for QURT to get around relocation error
Added stubs for QURT so building a full executable can be tested. This will
enable CI testing without the full Hexagon SDK.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>

Makefile

@@ -24,7 +24,7 @@ posix-sitl_simple:
 
 qurt-hil_simple:
 	mkdir -p $d/build_$@ && cd $d/build_$@ && \
-		cmake .. -DCMAKE_TOOLCHAIN_FILE=../cmake/Toolchain-hexagon.cmake \
+		cmake .. -DQURT_ENABLE_STUBS=1 -DCMAKE_TOOLCHAIN_FILE=../cmake/Toolchain-hexagon.cmake \
 		-DOS=qurt -DBOARD=hil -DLABEL=simple && \
 		make -s && ctest -V && cpack -G ZIP
 

cmake/qurt/configs/config-qurt-hil.cmake

@@ -6,7 +6,6 @@ function(px4_set_config_modules out_module_list)
 		drivers/led
 		drivers/rgbled
 		modules/sensors
-		modules/uORB
 
 	#	drivers/blinkm
 	#	drivers/ms5611
@@ -60,6 +59,7 @@ function(px4_set_config_modules out_module_list)
 	#
 	# QuRT port
 	#
+		platforms/common
 		platforms/qurt/px4_layer
 		platforms/posix/work_queue
 	#	platforms/posix/drivers/accelsim

cmake/qurt/px4_impl_qurt.cmake

@@ -104,8 +104,7 @@ function(px4_qurt_generate_builtin_commands)
 			math(EXPR command_count "${command_count}+1")
 		endif()
 	endforeach()
-	configure_file(${CMAKE_SOURCE_DIR}/cmake/qurt/apps.h_in
-		${OUT})
+	configure_file(${CMAKE_SOURCE_DIR}/cmake/qurt/apps.h_in ${OUT})
 endfunction()
 
 #=============================================================================

src/firmware/posix/CMakeLists.txt

@@ -7,9 +7,6 @@ message(STATUS "module list: ${module_dir_list}")
 
 include_directories(${CMAKE_CURRENT_BINARY_DIR})
 
-#add_custom_command(OUTPUT apps.h
-#	COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/Tools/posix_apps.py > apps.h)
-
 foreach(directory ${module_dir_list})
 	message(STATUS "directory: ${directory}")
 	px4_mangle_name(${directory} mangled_name)

src/firmware/qurt/CMakeLists.txt

@@ -15,8 +15,9 @@ foreach(directory ${module_dir_list})
 	list(APPEND module_list
 		${mangled_name})
 endforeach()
+
 px4_qurt_generate_builtin_commands(
-	OUT apps.h
+	OUT ${CMAKE_BINARY_DIR}/apps.h
 	MODULE_LIST ${module_list})
 
 # FIXME @jgoppert - how to work around issues like this?
@@ -25,9 +26,22 @@ px4_qurt_generate_builtin_commands(
 set(CMAKE_SHARED_LIBRARY_LINK_C_FLAGS "")
 set(CMAKE_SHARED_LIBRARY_LINK_CXX_FLAGS "")
 
-add_library(mainapp 
-	${CMAKE_SOURCE_DIR}/src/platforms/qurt/px4_layer/main.cpp
-	apps.h)
+# Enable build without HexagonSDK to check link dependencies
+if ("${QURT_ENABLE_STUBS}" STREQUAL "1")
+	add_executable(mainapp 
+		${CMAKE_SOURCE_DIR}/src/platforms/qurt/dspal/dspal_stub.c
+		${CMAKE_BINARY_DIR}/apps.h)
+else("${QURT_ENABLE_STUBS}" STREQUAL "1")
+	add_library(mainapp 
+		${CMAKE_SOURCE_DIR}/src/platforms/qurt/dspal/dspal_stub.c
+		${CMAKE_BINARY_DIR}/apps.h)
+endif()
+
+set(main_link_flags
+	"-T${CMAKE_SOURCE_DIR}/cmake/posix/ld.script"
+	)
+px4_join(OUT main_link_flags LIST ${main_link_flags} GLUE " ")
+set_target_properties(mainapp PROPERTIES LINK_FLAGS ${main_link_flags})
 
 target_link_libraries(mainapp
 	-Wl,--whole-archive

src/modules/uORB/CMakeLists.txt

@@ -63,6 +63,11 @@ elseif(${OS} STREQUAL "posix-arm")
 		uORBManager_posix.cpp
 		uORBTest_UnitTest.cpp
 		)
+elseif(${OS} STREQUAL "qurt")
+	list(APPEND SRCS
+		uORBDevices_posix.cpp
+		uORBManager_posix.cpp
+		)
 endif()
 
 px4_add_module(

src/platforms/px4_defines.h

@@ -144,9 +144,13 @@ typedef param_t px4_param_t;
 /* FIXME - Used to satisfy build */
 #define getreg32(a)    (*(volatile uint32_t *)(a))
 
+#ifdef __PX4_QURT
+#define PX4_TICKS_PER_SEC 1000L
+#else
 __BEGIN_DECLS
 extern long PX4_TICKS_PER_SEC;
 __END_DECLS
+#endif
 
 #define USEC_PER_TICK (1000000UL/PX4_TICKS_PER_SEC)
 #define USEC2TICK(x) (((x)+(USEC_PER_TICK/2))/USEC_PER_TICK) 

src/platforms/qurt/dspal/dspal_stub.c

@@ -33,20 +33,16 @@
 #include <stdio.h>
 #include <dlfcn.h>
 
-#define STACK_SIZE 0x8000
-static char __attribute__ ((aligned (16))) stack1[STACK_SIZE];
+//#define STACK_SIZE 0x8000
+//static char __attribute__ ((aligned (16))) stack1[STACK_SIZE];
 
-int main(int argc, char* argv[])
+static void do_dlopen()
 {
-	int ret = 0;
-	char *builtin[]={"libgcc.so", "libc.so", "libstdc++.so"};
+#if 0
 	void *handle;
 	char *error;
 	void (*entry_function)() = NULL;
 
-	printf("In DSPAL main\n");
-	dlinit(3, builtin);
-#if 0
 	handle = dlopen ("libdspal_client.so", RTLD_LAZY);
 	if (!handle) {
 		printf("Error opening libdspal_client.so\n");
@@ -59,6 +55,18 @@ int main(int argc, char* argv[])
 	}
 	dlclose(handle);
 #endif
+}
+	
+
+int main(int argc, char* argv[])
+{
+	int ret = 0;
+	char *builtin[]={"libgcc.so", "libc.so", "libstdc++.so"};
+
+	printf("In DSPAL main\n");
+	dlinit(3, builtin);
+
+	do_dlopen();
 	return ret;
 }
 

src/platforms/qurt/px4_layer/CMakeLists.txt

@@ -30,17 +30,31 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
+
+set(QURT_LAYER_SRCS 
+	px4_qurt_impl.cpp
+	px4_qurt_tasks.cpp
+	lib_crc32.c
+	drv_hrt.c
+	qurt_stubs.c
+	main.cpp
+	)
+if ("${QURT_ENABLE_STUBS}" STREQUAL "1")
+	list(APPEND QURT_LAYER_SRCS
+		../stubs/stubs_posix.c
+		../stubs/stubs_qurt.c
+		)
+endif()
+
+set(CONFIG_SRC commands_${BOARD}.c)
+
 px4_add_module(
 	MODULE platforms__qurt__px4_layer
 	COMPILE_FLAGS
 		-Os
 	SRCS
-		px4_qurt_impl.cpp
-		px4_qurt_tasks.cpp
-		lib_crc32.c
-		drv_hrt.c
-		qurt_stubs.c
-		main.cpp
+		${QURT_LAYER_SRCS}
+		${CONFIG_SRC}
 	DEPENDS
 		platforms__common
 	)

src/platforms/qurt/px4_layer/commands_hil.c

@@ -37,6 +37,7 @@
  * @author Mark Charlebois <charlebm@gmail.com>
  */
 
+const char *get_commands(void);
 const char *get_commands()
 {
 

src/platforms/qurt/px4_layer/main.cpp

@@ -46,6 +46,7 @@
 #include <string>
 #include <map>
 #include <stdio.h>
+#include <apps.h>
 
 using namespace std;
 
@@ -100,18 +101,17 @@ static void process_commands(map<string,px4_main_t> &apps, const char *cmds)
 	char arg[256];
 
 	// This is added because it is a parameter used by commander, yet created by mavlink.  Since mavlink is not
-        // running on QURT, we need to manually define it so it is available to commander.  "2" is for quadrotor.
+	// running on QURT, we need to manually define it so it is available to commander.  "2" is for quadrotor.
 
-    // Following is hack to prevent duplicate parameter definition error in param parser
-    /**
-     * @board QuRT_App
-     */
+	// Following is hack to prevent duplicate parameter definition error in param parser
+	/**
+	 * @board QuRT_App
+	 */
 	PARAM_DEFINE_INT32(MAV_TYPE,2);
 
 	// Eat leading whitespace
 	eat_whitespace(b, i);
 
-
 	for(;;) {
 		// End of command line
 		if (b[i] == '\n' || b[i] == '\0') {

src/platforms/qurt/px4_layer/px4_qurt_impl.cpp

@@ -59,7 +59,7 @@
 __BEGIN_DECLS
 extern uint64_t get_ticks_per_us();
 
-long PX4_TICKS_PER_SEC = 1000;
+//long PX4_TICKS_PER_SEC = 1000L;
 
 unsigned int sleep(unsigned int sec) 
 { 

src/platforms/qurt/px4_layer/qurt_stubs.c

@@ -32,6 +32,18 @@
  ****************************************************************************/
 #include "px4_log.h"
 //extern "C" {
+void block_indefinite( void );
+void _Read_uleb( void );
+void _Parse_fde_instr( void );
+void _Parse_csd( void );
+void _Valbytes( void );
+void _Get_eh_data( void );
+void _Parse_lsda( void );
+void __cxa_guard_release( void );
+void _Read_enc_ptr( void );
+void _Read_sleb( void );
+void __cxa_guard_acquire( void );
+void __cxa_pure_virtual( void );
 
 void block_indefinite( void )
 {
@@ -71,7 +83,8 @@ void _Unlocksyslock( int x )
 {
    PX4_WARN( "Error: Calling unresolved symbol stub[%s]", __FUNCTION__ );
    block_indefinite(); 
-#endif}
+}
+#endif
 
 void _Valbytes( void )
 {

src/platforms/qurt/stubs/stubs_posix.c

@@ -0,0 +1,99 @@
+#include <semaphore.h>
+#include <unistd.h>
+#include <pthread.h>
+#include <signal.h>
+#include <time.h>
+
+int sem_init(sem_t *sem, int pshared, unsigned int value)
+{
+	return 1;
+}
+
+int sem_wait(sem_t *sem)
+{
+	return 1;
+}
+
+int sem_destroy(sem_t *sem)
+{
+	return 1;
+}
+
+int sem_post(sem_t *sem)
+{
+	return 1;
+}
+
+int sem_getvalue(sem_t *sem, int *sval)
+{
+	return 1;
+}
+
+int usleep(useconds_t usec)
+{
+	return 0;
+}
+
+pthread_t pthread_self(void)
+{
+	pthread_t x = 0;
+	return x;
+}
+
+
+int pthread_kill(pthread_t thread, int sig)
+{
+	return 1;
+}
+
+void pthread_exit(void *retval)
+{
+}
+
+int pthread_join(pthread_t thread, void **retval)
+{
+	return 1;
+}
+
+int pthread_cancel(pthread_t thread)
+{
+	return 1;
+}
+int pthread_attr_init(pthread_attr_t *attr)
+{
+	return 1;
+}
+
+int pthread_attr_setstacksize(pthread_attr_t *attr, size_t stacksize)
+{
+	return 1;
+}
+
+int pthread_attr_getstacksize(const pthread_attr_t *attr, size_t *stacksize)
+{
+	return 1;
+}
+
+int pthread_attr_setschedparam(pthread_attr_t *attr, const struct sched_param *param)
+{
+	return 1;
+}
+
+int pthread_create(pthread_t *thread, const pthread_attr_t *attr, void *(*start_routine) (void *), void *arg)
+{
+	return 1;
+}
+int pthread_attr_getschedparam(const pthread_attr_t *attr, struct sched_param *param)
+{
+	return 1;
+}
+
+int pthread_attr_destroy(pthread_attr_t *attr)
+{
+	return 1;
+}
+
+int clock_gettime(clockid_t clk_id, struct timespec *tp)
+{
+	return 1;
+}

src/platforms/qurt/stubs/stubs_qurt.c

@@ -0,0 +1,14 @@
+#include <qurt_log.h>
+
+void HAP_debug(const char *msg, int level, const char *filename, int line)
+{
+}
+
+void HAP_power_request(int a, int b, int c)
+{
+}
+
+int dlinit(int a, char **b)
+{
+	return 1;
+}