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>
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>
The SITL build is now the default posix build.
The linker script for posix was moved to makefiles/posix.
The rc.S file was moved to posix-configs/SITL/init/
The POSIXTEST board definition is now SITL
To run the SITL test run:
make sitlrun
This replaces the make posixrun target.
The build directory is now Build/posix_sitl.build/
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>
The Build/git_version.d and Build/git_version.o files need to be
removed on each make to prevent confusion from a previously
generated dependency file for a different target.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
When make is invoked as "make posix posix_default"
it will build the posix_default target twice. The Makefile was
fixed to correct this.
If "make posix" is run, the Makefile still calls "make PX4_TARGET_OS=posix".
If "make posix posix_default" is run, the posix target just exports
PX4_TARGET_OS=posix and then make evaluates the next goal (posix_default).
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
NuttX is still the default target and all NuttX configs can still
be built with:
make
Individual NuttX, POSIX, and QuRT configs can now be built more
easily by specifying the target and configs:
make posix posix_default
make qurt qurt_hello
make nuttx aerocore_default
Running make with just the target will make all the configs for
that target:
make nuttx
make qurt
make posix
The help is also target specific:
make nuttx help
make qurt help
make posix help
"make help" will still assume you want help for the NuttX target
Added a new QuRT config called qurt_hello as a sample config to
test buiding in different commands for separate configs.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
In the upstream tree ringbuffer.h includes the method implementations
in the header file which causes multiple definitions in the link for
other targets. Changed so ringbuffer.cpp is build separately for other
platforms and is included by ringbuffer.h on NuttX.
uORB changes do not link without uORBTest_UnitTest.cpp enabled for
the NuttX build.
px4_getopt was not exported and wasn't visible in NuttX build.
The makefiles were restored to be as close as possible to upstream
so the NuttX build builtin's work again. The code will have to be
refactored after the merge.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
DSPAL for QuRT is still missing the pthreads exports and there is no
exported sleep function. These functions are stubbed out for the time being.
This is based on the 6.4.05 version of the Hexagon tools.
The Hexagon tools and DSPAL are needed to build the qurt target.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
PreflightCheck was failing because it was trying to read actual
devices instad of virtual devices.
ADCSIM had a LINUXTEST ifdef that was removed.
posix_run.sh was using the wrong path
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
Changed "linux" target to "posix". Most of the changes are shared with
QuRT and with OSX. The Linux specific parts are in for i2c which uses
<linux/i2c.h> and <linux/i2c-dev.h>.
There is also a check for __PX4_LINUX in mavlink for a tty ioctl that is
not supported.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
Now run:
make PX4_TARGET_OS=nuttx
or
make PX4_TARGET_OS=linux
To test the linux build and make sure that the required directories
exist, run:
make linuxrun
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
Added linker script to resolve __param_start and __param_end.
Added mc_att_control to list of supported builtins.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
Moved checksubmodules target back to Makefile.
NuttX download still done for Linux as it would require
too much surgery to remove it.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
Moved the NuttX specific board files to makefiles/nuttx and added
a makfiles/linux directory with sample config and board files.
Created a makefiles/toolchain_native.mk file for building for Linux
with the native system compiler. GCC or clang can be used by setting
a flag in the file.
The Linux build creates an archive file and will build the tasks as
threads. Other code changes are required to support both task based
and thread based builds.
The NuttX source should not be required for the Linux build. The
target OS (NuttX or Linux) is selected by commenting out the desired
line in setup.mk
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This gives warnings about -j1 being forced some places, but
it still successfully builds all archvies in parallel. The
resulting archives have been tested on the board. It is
disabled by default so no functional change unless someone
adds J="" or J=8 in front of the make archvies.
Daniel Agar
Mark Charlebois
devbharat
Lorenz Meier
David Sidrane
Andrew Tridgell
Thomas Gubler
James Goppert