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cmake: qurt modules now build but do not link 

Managed to get the deps set up to build the qurt modules using a
config file for the list of modules.

NuttX link options are being set somewhere that break the qurt build

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois 2015-09-08 13:16:12 -07:00
parent 0de5868ee2
commit eb40a6de77
8 changed files with 145 additions and 30 deletions
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5
cmake/px4_impl_qurt.cmake
View File

@ -98,13 +98,13 @@ function(px4_qurt_generate_builtin_commands)
endforeach()
if (MAIN)
set(builtin_apps_string
"${builtin_apps_string}\t{\"${MAIN}\", ${PRIORITY}, ${STACK}, ${MAIN}_main},\n")
"${builtin_apps_string}\tapps[\"${MAIN}\"] = ${MAIN}_main;\n")
set(builtin_apps_decl_string
"${builtin_apps_decl_string}extern int ${MAIN}_main(int argc, char *argv[]);\n")
math(EXPR command_count "${command_count}+1")
endif()
endforeach()
configure_file(${CMAKE_SOURCE_DIR}/cmake/builtin_commands.c.in
configure_file(${CMAKE_SOURCE_DIR}/cmake/qurt/builtin_commands.cpp_stub
${OUT})
endfunction()
@ -226,6 +226,7 @@ function(px4_os_prebuild_targets)
ONE_VALUE OUT BOARD THREADS
REQUIRED OUT BOARD
ARGN ${ARGN})
add_custom_target(${OUT})
endfunction()
#=============================================================================

84
cmake/qurt/builtin_commands.cpp_stub Normal file
View File

@ -0,0 +1,84 @@
/* builtin command list - automatically generated, do not edit */
#include <string>
#include <map>
#include <stdio.h>
#include <px4_tasks.h>
#include <px4_posix.h>
#include <px4_log.h>
#include <stdlib.h>
using namespace std;
extern void px4_show_devices(void);
extern "C" {
${builtin_apps_decl_string}
static int shutdown_main(int argc, char *argv[]);
static int list_tasks_main(int argc, char *argv[]);
static int list_files_main(int argc, char *argv[]);
static int list_devices_main(int argc, char *argv[]);
static int list_topics_main(int argc, char *argv[]);
static int sleep_main(int argc, char *argv[]);
}
void init_app_map(map<string,px4_main_t> &apps)
{
${builtin_apps_string}
apps["shutdown"] = shutdown_main;
apps["list_tasks"] = list_tasks_main;
apps["list_files"] = list_files_main;
apps["list_devices"] = list_devices_main;
apps["list_topics"] = list_topics_main;
apps["sleep"] = sleep_main;
}
void list_builtins(map<string,px4_main_t> &apps)
{
printf("Builtin Commands:\\n");
for (map<string,px4_main_t>::iterator it=apps.begin(); it!=apps.end(); ++it)
printf("\\t%s\\n", (it->first).c_str());
}
static int shutdown_main(int argc, char *argv[])
{
printf("Shutting down\\n");
exit(0);
}
static int list_tasks_main(int argc, char *argv[])
{
px4_show_tasks();
return 0;
}
static int list_devices_main(int argc, char *argv[])
{
px4_show_devices();
return 0;
}
static int list_topics_main(int argc, char *argv[])
{
px4_show_topics();
return 0;
}
static int list_files_main(int argc, char *argv[])
{
px4_show_files();
return 0;
}
static int sleep_main(int argc, char *argv[])
{
if (argc != 2) {
PX4_WARN( "Usage: sleep <seconds>" );
return 1;
}
unsigned long usecs = ( (unsigned long) atol( argv[1] ) ) * 1000 * 1000;
PX4_WARN("Sleeping for %s, %ld",argv[1],usecs);
usleep( usecs );
return 0;
}

33
src/CMakeLists.txt
View File

@ -12,6 +12,12 @@ add_subdirectory(./firmware)
# executable
#
function(px4_mangle_name dirname newname)
set(tmp)
string(REPLACE "/" "__" tmp ${dirname})
set(${newname} ${tmp} PARENT_SCOPE)
endfunction()
if (${OS} STREQUAL "nuttx")
# a list of modules that will be linked to main
@ -71,14 +77,33 @@ if (${OS} STREQUAL "nuttx")
BUNDLE ${CMAKE_CURRENT_BINARY_DIR}/fw_main.px4)
elseif(${OS} STREQUAL "qurt")
set(module_dir_list)
set(module_list)
px4_qurt_add_modules(module_list ${BOARD})
message(STATUS "module list: ${module_list}")
px4_qurt_add_modules(module_dir_list ${BOARD})
message(STATUS "module list: ${module_dir_list}")
foreach(directory ${module_list})
foreach(directory ${module_dir_list})
message(STATUS "directory: ${directory}")
add_subdirectory(${directory} EXCLUDE_FROM_ALL)
px4_mangle_name(${directory} mangled_name)
list(APPEND module_list
${mangled_name})
endforeach()
px4_qurt_generate_builtin_commands(
OUT builtin_commands.cpp
MODULE_LIST ${module_list})
# FIXME @jgoppert - how to work around issues like this?
# Without changing global variables?
# Clear -rdynamic flag which fails for hexagon
set(CMAKE_SHARED_LIBRARY_LINK_C_FLAGS "")
set(CMAKE_SHARED_LIBRARY_LINK_CXX_FLAGS "")
add_executable(main builtin_commands.cpp)
target_link_libraries(main
-Wl,--start-group
${module_list}
apps nuttx nosys m gcc
-Wl,--end-group)
endif()
# vim: set noet ft=cmake fenc=utf-8 ff=unix :

1
src/drivers/CMakeLists.txt
View File

@ -8,6 +8,7 @@ set(directories
./boards/px4io-v1
./boards/px4fmu-v1
./boards/aerocore
./boards/sitl
./mpu6000
./gimbal
./camera_trigger

2
src/modules/muorb/adsp/CMakeLists.txt
View File

@ -30,6 +30,8 @@
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
include_directories("../../uORB")
px4_add_module(
MODULE modules__muorb__adsp
COMPILE_FLAGS

5
src/modules/muorb/adsp/px4muorb.cpp
View File

@ -31,7 +31,7 @@
*
****************************************************************************/
#include "px4muorb.hpp"
#include "qurt.h"
//#include "qurt.h"
#include "uORBFastRpcChannel.hpp"
#include "uORBManager.hpp"
@ -44,12 +44,11 @@
#include "uORB/topics/sensor_combined.h"
#include "uORB.h"
#include "HAP_power.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);
};

11
src/modules/systemlib/perf_counter.c
View File

@ -47,6 +47,9 @@
#ifdef __PX4_QURT
#define dprintf(...)
#define ddeclare(...)
#else
#define ddeclare(...) __VA_ARGS_
#endif
/**
@ -417,8 +420,8 @@ perf_print_counter_fd(int fd, perf_counter_t handle)
break;
case PC_ELAPSED: {
struct perf_ctr_elapsed *pce = (struct perf_ctr_elapsed *)handle;
float rms = sqrtf(pce->M2 / (pce->event_count - 1));
ddeclare(struct perf_ctr_elapsed *pce = (struct perf_ctr_elapsed *)handle;)
ddeclare(float rms = sqrtf(pce->M2 / (pce->event_count - 1));)
dprintf(fd, "%s: %llu events, %llu overruns, %lluus elapsed, %lluus avg, min %lluus max %lluus %5.3fus rms\n",
handle->name,
(unsigned long long)pce->event_count,
@ -432,8 +435,8 @@ perf_print_counter_fd(int fd, perf_counter_t handle)
}
case PC_INTERVAL: {
struct perf_ctr_interval *pci = (struct perf_ctr_interval *)handle;
float rms = sqrtf(pci->M2 / (pci->event_count - 1));
ddeclare(struct perf_ctr_interval *pci = (struct perf_ctr_interval *)handle;)
ddeclare(float rms = sqrtf(pci->M2 / (pci->event_count - 1));)
dprintf(fd, "%s: %llu events, %lluus avg, min %lluus max %lluus %5.3fus rms\n",
handle->name,

34
src/platforms/px4_log.h
View File

@ -70,33 +70,33 @@ static inline void do_nothing(int level, ...)
/****************************************************************************
* Messages that should never be filtered or compiled out
****************************************************************************/
#define PX4_LOG(FMT, ...) qurt_log(_PX4_LOG_LEVEL_ALWAYS, __FILENAME__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_INFO(FMT, ...) qurt_log(_PX4_LOG_LEVEL_ALWAYS, __FILENAME__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_LOG(FMT, ...) qurt_log(_PX4_LOG_LEVEL_ALWAYS, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_INFO(FMT, ...) qurt_log(_PX4_LOG_LEVEL_ALWAYS, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#if defined(TRACE_BUILD)
/****************************************************************************
* Extremely Verbose settings for a Trace build
****************************************************************************/
#define PX4_PANIC(FMT, ...) qurt_log(_PX4_LOG_LEVEL_PANIC, __FILENAME__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_ERR(FMT, ...) qurt_log(_PX4_LOG_LEVEL_ERROR, __FILENAME__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_WARN(FMT, ...) qurt_log(_PX4_LOG_LEVEL_WARN, __FILENAME__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_DEBUG(FMT, ...) qurt_log(_PX4_LOG_LEVEL_DEBUG, __FILENAME__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_PANIC(FMT, ...) qurt_log(_PX4_LOG_LEVEL_PANIC, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_ERR(FMT, ...) qurt_log(_PX4_LOG_LEVEL_ERROR, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_WARN(FMT, ...) qurt_log(_PX4_LOG_LEVEL_WARN, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_DEBUG(FMT, ...) qurt_log(_PX4_LOG_LEVEL_DEBUG, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#elif defined(DEBUG_BUILD)
/****************************************************************************
* Verbose settings for a Debug build
****************************************************************************/
#define PX4_PANIC(FMT, ...) qurt_log(_PX4_LOG_LEVEL_PANIC, __FILENAME__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_ERR(FMT, ...) qurt_log(_PX4_LOG_LEVEL_ERROR, __FILENAME__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_WARN(FMT, ...) qurt_log(_PX4_LOG_LEVEL_WARN, __FILENAME__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_DEBUG(FMT, ...) qurt_log(_PX4_LOG_LEVEL_DEBUG, __FILENAME__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_PANIC(FMT, ...) qurt_log(_PX4_LOG_LEVEL_PANIC, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_ERR(FMT, ...) qurt_log(_PX4_LOG_LEVEL_ERROR, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_WARN(FMT, ...) qurt_log(_PX4_LOG_LEVEL_WARN, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_DEBUG(FMT, ...) qurt_log(_PX4_LOG_LEVEL_DEBUG, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#elif defined(RELEASE_BUILD)
/****************************************************************************
* Non-verbose settings for a Release build to minimize strings in build
****************************************************************************/
#define PX4_PANIC(FMT, ...) qurt_log(_PX4_LOG_LEVEL_PANIC, __FILENAME__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_ERR(FMT, ...) qurt_log(_PX4_LOG_LEVEL_ERROR, __FILENAME__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_PANIC(FMT, ...) qurt_log(_PX4_LOG_LEVEL_PANIC, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_ERR(FMT, ...) qurt_log(_PX4_LOG_LEVEL_ERROR, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_WARN(FMT, ...) __px4_log_omit(_PX4_LOG_LEVEL_WARN, FMT, ##__VA_ARGS__)
#define PX4_DEBUG(FMT, ...) __px4_log_omit(_PX4_LOG_LEVEL_DEBUG, FMT, ##__VA_ARGS__)
@ -104,14 +104,14 @@ static inline void do_nothing(int level, ...)
/****************************************************************************
* Medium verbose settings for a default build
****************************************************************************/
#define PX4_PANIC(FMT, ...) qurt_log(_PX4_LOG_LEVEL_PANIC, __FILENAME__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_ERR(FMT, ...) qurt_log(_PX4_LOG_LEVEL_ERROR, __FILENAME__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_WARN(FMT, ...) qurt_log(_PX4_LOG_LEVEL_WARN, __FILENAME__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_PANIC(FMT, ...) qurt_log(_PX4_LOG_LEVEL_PANIC, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_ERR(FMT, ...) qurt_log(_PX4_LOG_LEVEL_ERROR, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_WARN(FMT, ...) qurt_log(_PX4_LOG_LEVEL_WARN, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_DEBUG(FMT, ...) __px4_log_omit(_PX4_LOG_LEVEL_DEBUG, FMT, ##__VA_ARGS__)
#endif
#define PX4_LOG_NAMED(name, FMT, ...) qurt_log( _PX4_LOG_LEVEL_ALWAYS, __FILENAME__, __LINE__, "%s " FMT, name, ##__VA_ARGS__)
#define PX4_LOG_NAMED_COND(name, cond, FMT, ...) if( cond ) qurt_log( _PX4_LOG_LEVEL_ALWAYS, __FILENAME__, __LINE__, "%s " FMT, name, ##__VA_ARGS__)
#define PX4_LOG_NAMED(name, FMT, ...) qurt_log( _PX4_LOG_LEVEL_ALWAYS, __FILE__, __LINE__, "%s " FMT, name, ##__VA_ARGS__)
#define PX4_LOG_NAMED_COND(name, cond, FMT, ...) if( cond ) qurt_log( _PX4_LOG_LEVEL_ALWAYS, __FILE__, __LINE__, "%s " FMT, name, ##__VA_ARGS__)
#else