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px4_autopilot/makefiles/qurt/config_qurt_adsp.mk

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Fixes for qurt HIL build 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>
10 years ago
#Added configuration specific flags here.
# For Actual flight we need to link against the 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
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>
10 years ago
#
# 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/