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Fixes for parameters.xml dependencies 

Moved definitions of parameters into *params.c in each module.
This is used by the cmake file as a pattern for dependencies when
generating the parameters.xml file.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois 2015-10-10 01:15:22 -07:00
parent 67087c6428
commit c28ae649a3
16 changed files with 286 additions and 204 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
CMakeLists.txt
View File

@ -274,7 +274,7 @@ px4_generate_messages(TARGET msg_gen
px4_generate_parameters_xml(OUT parameters.xml BOARD ${BOARD})
px4_generate_airframes_xml(OUT airframes.xml BOARD ${BOARD})
add_custom_target(xml_gen
DEPENDS parameters.xml airframes.xml)
DEPENDS git_eigen parameters.xml airframes.xml)
#=============================================================================
# external projects

4
cmake/common/px4_base.cmake
View File

@ -731,7 +731,9 @@ function(px4_generate_parameters_xml)
REQUIRED OUT BOARD
ARGN ${ARGN})
set(path ${CMAKE_SOURCE_DIR}/src)
file(GLOB_RECURSE param_src_files ${path}/*.h* ${path}/*.c*)
file(GLOB_RECURSE param_src_files
${CMAKE_SOURCE_DIR}/src/*params.c
)
add_custom_command(OUTPUT ${OUT}
COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/Tools/px_process_params.py
-s ${path} --board CONFIG_ARCH_${BOARD} --xml

2
cmake/qurt/px4_impl_qurt.cmake
View File

@ -229,7 +229,7 @@ function(px4_os_prebuild_targets)
COMMAND patch -p1 -i ${CMAKE_SOURCE_DIR}/cmake/qurt/qurt_eigen.patch
DEPENDS git_eigen)
add_custom_target(${OUT} DEPENDS git_dspal git_eigen_patched)
add_custom_target(ALL DEPENDS git_eigen)
add_custom_target(ALL DEPENDS git_eigen_patched)
endfunction()

2
cmake/qurt/qurt_funcs.cmake
View File

@ -46,5 +46,3 @@
# The macros are called from the top level CMakeLists.txt
#
px4_add_git_submodule(TARGET git_dspal PATH "src/lib/dspal")
px4_add_git_submodule(TARGET git_eigen32 PATH "src/lib/eigen-3.2")

1
src/modules/mavlink/CMakeLists.txt
View File

@ -56,6 +56,7 @@ px4_add_module(
mavlink_rate_limiter.cpp
mavlink_receiver.cpp
mavlink_ftp.cpp
mavlink_params.c
DEPENDS
platforms__common
)

69
src/modules/mavlink/mavlink.c
View File

@ -46,75 +46,6 @@
#include "mavlink_bridge_header.h"
#include <systemlib/param/param.h>
/**
* MAVLink system ID
* @group MAVLink
* @min 1
* @max 250
*/
PARAM_DEFINE_INT32(MAV_SYS_ID, 1);
/**
* MAVLink component ID
* @group MAVLink
* @min 1
* @max 250
*/
PARAM_DEFINE_INT32(MAV_COMP_ID, 1);
/**
* MAVLink Radio ID
*
* When non-zero the MAVLink app will attempt to configure the
* radio to this ID and re-set the parameter to 0. If the value
* is negative it will reset the complete radio config to
* factory defaults.
*
* @group MAVLink
* @min -1
* @max 240
*/
PARAM_DEFINE_INT32(MAV_RADIO_ID, 0);
/**
* MAVLink airframe type
*
* @min 1
* @group MAVLink
*/
PARAM_DEFINE_INT32(MAV_TYPE, 1);
/**
* Use/Accept HIL GPS message even if not in HIL mode
*
* If set to 1 incoming HIL GPS messages are parsed.
*
* @group MAVLink
*/
PARAM_DEFINE_INT32(MAV_USEHILGPS, 0);
/**
* Forward external setpoint messages
*
* If set to 1 incoming external setpoint messages will be directly forwarded
* to the controllers if in offboard control mode
*
* @group MAVLink
*/
PARAM_DEFINE_INT32(MAV_FWDEXTSP, 1);
/**
* Test parameter
*
* This parameter is not actively used by the system. Its purpose is to allow
* testing the parameter interface on the communication level.
*
* @group MAVLink
* @min -1000
* @max 1000
*/
PARAM_DEFINE_INT32(MAV_TEST_PAR, 1);
mavlink_system_t mavlink_system = {
100,
50

104
src/modules/mavlink/mavlink_params.c Normal file
View File

@ -0,0 +1,104 @@
/****************************************************************************
*
* Copyright (c) 2012-2015 PX4 Development Team. 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 <systemlib/param/param.h>
/**
* MAVLink system ID
* @group MAVLink
* @min 1
* @max 250
*/
PARAM_DEFINE_INT32(MAV_SYS_ID, 1);
/**
* MAVLink component ID
* @group MAVLink
* @min 1
* @max 250
*/
PARAM_DEFINE_INT32(MAV_COMP_ID, 1);
/**
* MAVLink Radio ID
*
* When non-zero the MAVLink app will attempt to configure the
* radio to this ID and re-set the parameter to 0. If the value
* is negative it will reset the complete radio config to
* factory defaults.
*
* @group MAVLink
* @min -1
* @max 240
*/
PARAM_DEFINE_INT32(MAV_RADIO_ID, 0);
/**
* MAVLink airframe type
*
* @min 1
* @group MAVLink
*/
PARAM_DEFINE_INT32(MAV_TYPE, 1);
/**
* Use/Accept HIL GPS message even if not in HIL mode
*
* If set to 1 incoming HIL GPS messages are parsed.
*
* @group MAVLink
*/
PARAM_DEFINE_INT32(MAV_USEHILGPS, 0);
/**
* Forward external setpoint messages
*
* If set to 1 incoming external setpoint messages will be directly forwarded
* to the controllers if in offboard control mode
*
* @group MAVLink
*/
PARAM_DEFINE_INT32(MAV_FWDEXTSP, 1);
/**
* Test parameter
*
* This parameter is not actively used by the system. Its purpose is to allow
* testing the parameter interface on the communication level.
*
* @group MAVLink
* @min -1000
* @max 1000
*/
PARAM_DEFINE_INT32(MAV_TEST_PAR, 1);

23
src/modules/muorb/adsp/px4muorb.cpp
View File

@ -31,38 +31,30 @@
*
****************************************************************************/
#include "px4muorb.hpp"
//#include "qurt.h"
#include "uORBFastRpcChannel.hpp"
#include "uORBManager.hpp"
#include <px4_middleware.h>
#include <px4_tasks.h>
#include <px4_posix.h>
#include <map>
#include <string>
#include <dspal_platform.h>
#include "px4_log.h"
#include "uORB/topics/sensor_combined.h"
#include "uORB.h"
#define _ENABLE_MUORB 1
extern "C" {
int dspal_main(int argc, const char *argv[]);
void HAP_power_request(int a, int b, int c);
};
__BEGIN_DECLS
extern int dspal_main(int argc, char *argv[]);
__END_DECLS
int px4muorb_orb_initialize()
{
int rc = 0;
PX4_WARN("Before calling dspal_entry() method...");
HAP_power_request(100, 100, 1000);
// register the fastrpc muorb with uORBManager.
uORB::Manager::get_instance()->set_uorb_communicator(uORB::FastRpcChannel::GetInstance());
const char *argv[2] = { "dspal", "start" };
const char *argv[] = { "dspal", "start" };
int argc = 2;
dspal_main(argc, argv);
PX4_WARN("After calling dspal_entry");
int rc;
rc = dspal_main(argc, (char **)argv);
return rc;
}
@ -102,7 +94,6 @@ int px4muorb_remove_subscriber(const char *name)
}
return rc;
}
int px4muorb_send_topic_data(const char *name, const uint8_t *data, int data_len_in_bytes)

1
src/modules/sdlog2/CMakeLists.txt
View File

@ -44,6 +44,7 @@ px4_add_module(
SRCS
sdlog2.c
logbuffer.c
params.c
DEPENDS
platforms__common
)

77
src/modules/sdlog2/params.c Normal file
View File

@ -0,0 +1,77 @@
/****************************************************************************
*
* Copyright (c) 2012-2015 PX4 Development Team. 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 <systemlib/param/param.h>
/**
* Logging rate.
*
* A value of -1 indicates the commandline argument
* should be obeyed. A value of 0 sets the minimum rate,
* any other value is interpreted as rate in Hertz. This
* parameter is only read out before logging starts (which
* commonly is before arming).
*
* @min -1
* @max 1
* @group SD Logging
*/
PARAM_DEFINE_INT32(SDLOG_RATE, -1);
/**
* Enable extended logging mode.
*
* A value of -1 indicates the commandline argument
* should be obeyed. A value of 0 disables extended
* logging mode, a value of 1 enables it. This
* parameter is only read out before logging starts
* (which commonly is before arming).
*
* @min -1
* @max 1
* @group SD Logging
*/
PARAM_DEFINE_INT32(SDLOG_EXT, -1);
/**
* Use timestamps only if GPS 3D fix is available
*
* A value of 1 constrains the log folder creation
* to only use the time stamp if a 3D GPS lock is
* present.
*
* @min 0
* @max 1
* @group SD Logging
*/
PARAM_DEFINE_INT32(SDLOG_GPSTIME, 1);

43
src/modules/sdlog2/sdlog2.c
View File

@ -124,49 +124,6 @@
#define PX4_EPOCH_SECS 1234567890L
/**
* Logging rate.
*
* A value of -1 indicates the commandline argument
* should be obeyed. A value of 0 sets the minimum rate,
* any other value is interpreted as rate in Hertz. This
* parameter is only read out before logging starts (which
* commonly is before arming).
*
* @min -1
* @max 1
* @group SD Logging
*/
PARAM_DEFINE_INT32(SDLOG_RATE, -1);
/**
* Enable extended logging mode.
*
* A value of -1 indicates the commandline argument
* should be obeyed. A value of 0 disables extended
* logging mode, a value of 1 enables it. This
* parameter is only read out before logging starts
* (which commonly is before arming).
*
* @min -1
* @max 1
* @group SD Logging
*/
PARAM_DEFINE_INT32(SDLOG_EXT, -1);
/**
* Use timestamps only if GPS 3D fix is available
*
* A value of 1 constrains the log folder creation
* to only use the time stamp if a 3D GPS lock is
* present.
*
* @min 0
* @max 1
* @group SD Logging
*/
PARAM_DEFINE_INT32(SDLOG_GPSTIME, 1);
#define LOGBUFFER_WRITE_AND_COUNT(_msg) if (logbuffer_write(&lb, &log_msg, LOG_PACKET_SIZE(_msg))) { \
log_msgs_written++; \
} else { \

1
src/platforms/qurt/px4_layer/CMakeLists.txt
View File

@ -38,6 +38,7 @@ set(QURT_LAYER_SRCS
drv_hrt.c
qurt_stubs.c
main.cpp
params.c
)
if ("${QURT_ENABLE_STUBS}" STREQUAL "1")
list(APPEND QURT_LAYER_SRCS

21
src/platforms/qurt/px4_layer/main.cpp
View File

@ -1,6 +1,5 @@
/****************************************************************************
*
* Copyright (C) 2015 Mark Charlebois. All rights reserved.
* Copyright (C) 2015 Mark Charlebois. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -42,6 +41,7 @@
#include <px4_time.h>
#include <px4_posix.h>
#include <px4_defines.h>
#include <dspal_platform.h>
#include <vector>
#include <string>
#include <map>
@ -100,15 +100,6 @@ static void process_commands(map<string,px4_main_t> &apps, const char *cmds)
bool found_first_char = false;
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.
// 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);
@ -152,7 +143,7 @@ extern void init_once(void);
};
__BEGIN_DECLS
extern int dspal_main(int argc, char *argv[]);
int dspal_main(int argc, char *argv[]);
__END_DECLS
@ -164,13 +155,13 @@ int dspal_entry( int argc, char* argv[] )
px4::init_once();
px4::init(argc, (char **)argv, "mainapp");
process_commands(apps, get_commands());
usleep( 1000000 ); // give time for all commands to execute before starting external function
sleep(1); // give time for all commands to execute before starting external function
if(qurt_external_hook)
{
qurt_external_hook();
}
for( ;; ){
usleep( 1000000 );
for(;;){
sleep(1);
}
return 0;
}

43
src/platforms/qurt/px4_layer/params.c Normal file
View File

@ -0,0 +1,43 @@
/****************************************************************************
* Copyright (C) 2015 Mark Charlebois. 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 <systemlib/param/param.h>
// 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.
// Following is hack to prevent duplicate parameter definition error in param parser
/**
* @board QuRT_App
*/
PARAM_DEFINE_INT32(MAV_TYPE,2);

95
src/platforms/qurt/px4_layer/qurt_stubs.c
View File

@ -31,107 +31,90 @@
*
****************************************************************************/
#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 );
#include <semaphore.h>
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 )
{
for(;;)
{
volatile int x = 0;
++x;
}
sem_t forever;
sem_init(&forever, 0, 0);
sem_wait(&forever);
}
void _Read_uleb( void )
{
PX4_WARN( "Error: Calling unresolved symbol stub[%s]", __FUNCTION__ );
block_indefinite();
PX4_WARN( "Error: Calling unresolved symbol stub[%s]", __FUNCTION__ );
block_indefinite();
}
void _Parse_fde_instr( void )
{
PX4_WARN( "Error: Calling unresolved symbol stub[%s]", __FUNCTION__ );
block_indefinite();
PX4_WARN( "Error: Calling unresolved symbol stub[%s]", __FUNCTION__ );
block_indefinite();
}
void _Parse_csd( void )
{
PX4_WARN( "Error: Calling unresolved symbol stub[%s]", __FUNCTION__ );
block_indefinite();
PX4_WARN( "Error: Calling unresolved symbol stub[%s]", __FUNCTION__ );
block_indefinite();
}
#if 0
void _Locksyslock( int x )
{
PX4_WARN( "Error: Calling unresolved symbol stub[%s]", __FUNCTION__ );
block_indefinite();
}
void _Unlocksyslock( int x )
{
PX4_WARN( "Error: Calling unresolved symbol stub[%s]", __FUNCTION__ );
block_indefinite();
}
#endif
void _Valbytes( void )
{
PX4_WARN( "Error: Calling unresolved symbol stub[%s]", __FUNCTION__ );
block_indefinite();
PX4_WARN( "Error: Calling unresolved symbol stub[%s]", __FUNCTION__ );
block_indefinite();
}
void _Get_eh_data( void )
{
PX4_WARN( "Error: Calling unresolved symbol stub[%s]", __FUNCTION__ );
block_indefinite();
PX4_WARN( "Error: Calling unresolved symbol stub[%s]", __FUNCTION__ );
block_indefinite();
}
void _Parse_lsda( void )
{
PX4_WARN( "Error: Calling unresolved symbol stub[%s]", __FUNCTION__ );
block_indefinite();
PX4_WARN( "Error: Calling unresolved symbol stub[%s]", __FUNCTION__ );
block_indefinite();
}
void __cxa_guard_release( void )
{
PX4_WARN( "Error: Calling unresolved symbol stub[%s]", __FUNCTION__ );
block_indefinite();
PX4_WARN( "Error: Calling unresolved symbol stub[%s]", __FUNCTION__ );
block_indefinite();
}
void _Read_enc_ptr( void )
{
PX4_WARN( "Error: Calling unresolved symbol stub[%s]", __FUNCTION__ );
block_indefinite();
PX4_WARN( "Error: Calling unresolved symbol stub[%s]", __FUNCTION__ );
block_indefinite();
}
void _Read_sleb( void )
{
PX4_WARN( "Error: Calling unresolved symbol stub[%s]", __FUNCTION__ );
block_indefinite();
PX4_WARN( "Error: Calling unresolved symbol stub[%s]", __FUNCTION__ );
block_indefinite();
}
void __cxa_guard_acquire( void )
{
PX4_WARN( "Error: Calling unresolved symbol stub[%s]", __FUNCTION__ );
block_indefinite();
PX4_WARN( "Error: Calling unresolved symbol stub[%s]", __FUNCTION__ );
block_indefinite();
}
void __cxa_pure_virtual()
{
PX4_WARN( "Error: Calling unresolved symbol stub[%s]", __FUNCTION__ );
block_indefinite();
PX4_WARN( "Error: Calling unresolved symbol stub[%s]", __FUNCTION__ );
block_indefinite();
}
//}

2
src/platforms/qurt/stubs/stubs_qurt.c
View File

@ -1,4 +1,6 @@
#include <dlfcn.h>
#include <qurt_log.h>
#include <dspal_platform.h>
void HAP_debug(const char *msg, int level, const char *filename, int line)
{