dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

QuRT: build configuration changes 

Added DSPAL header paths to toolchain_hexagon.mk.

Made changes to build configuraion for QuRT to support HIL testing.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois 2015-07-30 16:48:10 -07:00
parent f91be99a4e
commit b046caa97b
5 changed files with 103 additions and 21 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

66
makefiles/qurt/config_qurt_adsp.mk Normal file
View File

@ -0,0 +1,66 @@
#
# Makefile for the EAGLE QuRT *default* configuration
#
#
# Board support modules
#
MODULES += drivers/device
MODULES += modules/sensors
#MODULES += platforms/qurt/drivers/mpu9x50
#MODULES += platforms/qurt/drivers/uart_esc
#
# System commands
#
MODULES += systemcmds/param
#
# General system control
#
#
# Estimation modules (EKF/ SO3 / other filters)
#
MODULES += modules/ekf_att_pos_estimator
MODULES += modules/attitude_estimator_q
MODULES += modules/position_estimator_inav
#
# Vehicle Control
#
MODULES += modules/mc_att_control
MODULES += modules/mc_pos_control
#
# Library modules
#
MODULES += modules/systemlib
MODULES += modules/systemlib/mixer
MODULES += modules/uORB
#MODULES += modules/dataman
MODULES += modules/commander
#
# Libraries
#
MODULES += lib/mathlib
MODULES += lib/mathlib/math/filter
MODULES += lib/geo
MODULES += lib/geo_lookup
MODULES += lib/conversion
#
# QuRT port
#
MODULES += platforms/qurt/px4_layer
#
# Unit tests
#
#
# sources for muorb over fastrpc
#
MODULES += modules/muorb/adsp/

2
makefiles/qurt/config_qurt_hil.mk
View File

@ -46,7 +46,7 @@ MODULES += modules/systemlib/mixer
MODULES += modules/uORB
#MODULES += modules/dataman
#MODULES += modules/sdlog2
MODULES += modules/simulator
#MODULES += modules/simulator
MODULES += modules/commander
#

32
makefiles/qurt/config_qurt_muorb_test.mk
View File

@ -7,17 +7,17 @@
#
MODULES += drivers/device
#MODULES += drivers/blinkm
MODULES += drivers/hil
MODULES += drivers/led
MODULES += drivers/rgbled
MODULES += modules/sensors
#MODULES += drivers/hil
#MODULES += drivers/led
#MODULES += drivers/rgbled
#MODULES += modules/sensors
#MODULES += drivers/ms5611
#
# System commands
#
MODULES += systemcmds/param
MODULES += systemcmds/mixer
#MODULES += systemcmds/param
#MODULES += systemcmds/mixer
#
# General system control
@ -28,24 +28,24 @@ MODULES += systemcmds/mixer
# Estimation modules (EKF/ SO3 / other filters)
#
#MODULES += modules/attitude_estimator_ekf
MODULES += modules/ekf_att_pos_estimator
#MODULES += modules/ekf_att_pos_estimator
#
# Vehicle Control
#
MODULES += modules/mc_att_control
MODULES += modules/mc_pos_control
#MODULES += modules/mc_att_control
#MODULES += modules/mc_pos_control
#
# Library modules
#
MODULES += modules/systemlib
MODULES += modules/systemlib/mixer
#MODULES += modules/systemlib/mixer
MODULES += modules/uORB
#MODULES += modules/dataman
#MODULES += modules/sdlog2
MODULES += modules/simulator
MODULES += modules/commander
#MODULES += modules/simulator
#MODULES += modules/commander
#
# Libraries
@ -61,10 +61,10 @@ MODULES += lib/conversion
#
MODULES += platforms/qurt/px4_layer
MODULES += platforms/posix/work_queue
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

2
makefiles/qurt/qurt.mk
View File

@ -35,5 +35,5 @@
#
MODULES += \
platforms/common
platforms/common

22
makefiles/qurt/toolchain_hexagon.mk
View File

@ -35,9 +35,17 @@
#$(info TOOLCHAIN gnu-arm-eabi)
#
# Stop making if ADSP_LIB_ROOT is not set. This defines the path to
# DspAL headers and driver headers
#
ifndef DSPAL_ROOT
$(error DSPAL_ROOT is not set)
endif
# Toolchain commands. Normally only used inside this file.
#
HEXAGON_TOOLS_ROOT = /opt/6.4.03
HEXAGON_TOOLS_ROOT ?= /opt/6.4.03
#HEXAGON_TOOLS_ROOT = /opt/6.4.05
HEXAGON_SDK_ROOT = /opt/Hexagon_SDK/2.0
V_ARCH = v5
@ -115,8 +123,12 @@ ARCHDEFINES += -DCONFIG_ARCH_BOARD_$(CONFIG_BOARD) \
-D__EXPORT= \
-Drestrict= \
-D_DEBUG \
-I$(PX4_BASE)/../dspal/include \
-I$(PX4_BASE)/../dspal/sys \
-I$(DSPAL_ROOT)/ \
-I$(DSPAL_ROOT)/dspal/include \
-I$(DSPAL_ROOT)/dspal/sys \
-I$(DSPAL_ROOT)/dspal/sys/sys \
-I$(DSPAL_ROOT)/mpu_spi/inc/ \
-I$(DSPAL_ROOT)/uart_esc/inc/ \
-I$(HEXAGON_TOOLS_ROOT)/gnu/hexagon/include \
-I$(PX4_BASE)/src/lib/eigen \
-I$(PX4_BASE)/src/platforms/qurt/include \
@ -233,6 +245,10 @@ LDFLAGS += -g -mv5 -mG0lib -G0 -fpic -shared \
$(EXTRALDFLAGS) \
$(addprefix -L,$(LIB_DIRS))
# driver dynamic libraries
LDFLAGS += -L${DSPAL_ROOT}/mpu_spi/hexagon_Debug_dynamic_toolv64/ship -lmpu9x50
LDFLAGS += -L${DSPAL_ROOT}/uart_esc/hexagon_Debug_dynamic_toolv64/ship -luart_esc
# Compiler support library
#
LIBGCC := $(shell $(CC) $(ARCHCPUFLAGS) -print-libgcc-file-name)