VOXL2 board updates and new Kconfig option for ROOTFSDIR

- also includes a couple of miscellaneous changes to VOXL2 support to show Qurt messages on px4 console and put logs in the proper spot
This commit is contained in:
Eric Katzfey 2023-01-30 09:03:40 -08:00 committed by GitHub
parent b1fc0ca0d0
commit a4aa76f0ac
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
8 changed files with 67 additions and 6 deletions

View File

@ -73,6 +73,13 @@ menu "Toolchain"
help
relative path to the ROMFS root directory
config BOARD_ROOTFSDIR
string "Root directory"
depends on PLATFORM_POSIX
default "."
help
Configure the root directory in the file system for PX4 files
config BOARD_IO
string "IO board name"
default "px4_io-v2_default"

View File

@ -414,7 +414,7 @@ bool ICM42688P::Configure()
return success;
}
static bool interrupt_debug = true;
static bool interrupt_debug = false;
static uint32_t interrupt_debug_count = 0;
static const uint32_t interrupt_debug_trigger = 800;
static hrt_abstime last_interrupt_time = 0;

View File

@ -17,3 +17,4 @@ CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
CONFIG_SYSTEMCMDS_UORB=y
CONFIG_SYSTEMCMDS_VER=y
CONFIG_ORB_COMMUNICATOR=y
CONFIG_BOARD_ROOTFSDIR="/data/px4"

View File

@ -19,5 +19,3 @@ fi
muorb start
qshell icm42688p start -s
qshell modal_io start

View File

@ -40,6 +40,8 @@
#pragma once
#include <sys/ioctl.h>
#include <px4_boardconfig.h>
/****************************************************************************
* Defines for all platforms.
@ -95,7 +97,7 @@ __BEGIN_DECLS
extern long PX4_TICKS_PER_SEC;
__END_DECLS
#define PX4_ROOTFSDIR "."
#define PX4_ROOTFSDIR CONFIG_BOARD_ROOTFSDIR
#define PX4_STORAGEDIR PX4_ROOTFSDIR

View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2022 ModalAI, Inc. All rights reserved.
* Copyright (C) 2022-2023 ModalAI, Inc. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -39,7 +39,9 @@
__BEGIN_DECLS
//Defining hap_debug
extern void qurt_log_to_apps(int level, const char *message);
// Defining hap_debug
void HAP_debug(const char *msg, int level, const char *filename, int line);
static __inline void qurt_log(int level, const char *file, int line,
@ -51,6 +53,8 @@ static __inline void qurt_log(int level, const char *file, int line,
vsnprintf(buf, sizeof(buf), format, args);
va_end(args);
HAP_debug(buf, level, file, line);
qurt_log_to_apps(level, buf);
}
__END_DECLS

View File

@ -37,6 +37,7 @@ set(QURT_LAYER_SRCS
tasks.cpp
px4_qurt_impl.cpp
main.cpp
qurt_log.cpp
)
add_library(px4_layer

View File

@ -0,0 +1,48 @@
/****************************************************************************
*
* Copyright (c) 2023 ModalAI, Inc. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <px4_platform_common/log.h>
#include <uORB/uORBManager.hpp>
// This function will send a debug or error message up to the apps proc
// so that it can be displayed and logged. Otherwise the messages are only
// available with the mini-dm tool that requires adb (i.e. USB cable attached)
extern "C" void qurt_log_to_apps(int level, const char *message)
{
uORBCommunicator::IChannel *ch = uORB::Manager::get_instance()->get_uorb_communicator();
if (ch != nullptr) {
if (level >= _PX4_LOG_LEVEL_ERROR) { ch->send_message("slpi_error", strlen(message) + 1, (uint8_t *) message); }
else { ch->send_message("slpi_debug", strlen(message) + 1, (uint8_t *) message); }
}
}