The DSPAL headers are required to build for qurt. When we move to
a cmake build system, the DSPAL headers can be conditionally included.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
Removed the re-definitions of the usage method in the posix/main.cpp file.
Added qurt_external_hook interface to call externally linked module.
Fixed code format to comply with PX4 style.
Added usage information to main app and handled cases for unknown arguments.
Fixed the orb_priority interface to use int32_t instead of int.
Fixes to get hil working with led changes.
Added the config_eagle_adsp.mk file and update the make files to to use new
include/lib paths
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
In order to use upstart to run PX4 it needs to run in daemon mode.
Added ability to test if a task is running in order to gracefully
shut down muorb.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
Workaround required Eigen downgrade to 3.2. Hexagon toolchain does
not support C++11 features of newest version of Eigen.
Running make qurt_fixup will downgrade and patch Eigen for qurt.
Running make restore will revert the patch and do a git submodule update
to restore the expected Eigen version.
Added a "restore" target to undo qurt_fixup
Before doing a qurt build run:
make qurt_fixup
That will downgrade Eigen to 3.2 and apply the require patch.
To build another target after downgrading:
make restore
Them make the desired target (other than qurt).
Fixed type used in orb_priority to be consistent with the code
(int* was used in declaration but int32_t* used in code)
Removed unused class member variable in sensors.cpp
Added cmake fix for unit tests. The location of px4_log.c changed.
Fixed the qurt drv_hrt.c implementation to use us instead of ms for time resolution
Added px4_led.c to nuttx platform layer
Use the posix version of px4_led.c for nuttx so we don't end up with
duplicate files. It was moved out of common because it is not used by qurt.
Changed PX4_DEBUG to PX4_WARN when checking for the error condition for store_poll_waiter in vdev.cpp
Updated the px4_log.h file to make calls to the qurt_log functions.
The qurt_log function is defined in the platforms/qurt layer.
Added an option to control starting the commander module in HIL mode.
Moved the flight specific drivers to the configuration file instead of adding them
to the common tool chain file because HIL mode does not need them.
Added the uorb Subscriber and Publisher classes
Call PX4_ISFINITE macro instead of isfinite().
Added px4_led.c to nuttx platform layer
Use the posix version of px4_led.c for nuttx so we don't end up with duplicate files.
It was moved out of common because it is not used by qurt.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
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>
The Eagle HW platform contains both a Krait (ARMv4hf compatible) cpu
cluster and a Hexagon DSP running QuRT.
These changes support the PX4 build for Eagle.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
Moved nuttx specific make rules to files in makefiles/nuttx.
All target specific makefiles are in their target sub directories.
To minimize file duplication, targets that share rules include a
common file. For example the posix and posix-arm targets both use
makefiles/posix/posix_elf.mk
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
QuRT doesn't support unlink and does not provide getpid().
The DSPAL layer provides access to usleep so an implementation is
no longer needed.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
The toolchain_* files are target OS specific so they were moved to
the target OS subdir.
The gcc_version.* files are only cleared once per make instantiation so
a build that creates multiple HW targets will try to link with an
incompatible .o file (i.e. x86 build linking ARM .o). I created
posix-arm as a separate target to fix this problem.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
Mark Charlebois