Merge pull request #2205 from mcharleb/qurt-test

Qurt test

Makefile

@@ -33,6 +33,12 @@
 # Top-level Makefile for building PX4 firmware images.
 #
 
+TARGETS	:= nuttx posix qurt
+EXPLICIT_TARGET	:= $(filter $(TARGETS),$(MAKECMDGOALS))
+ifneq ($(EXPLICIT_TARGET),)
+    export PX4_TARGET_OS=$(EXPLICIT_TARGET)
+endif
+
 #
 # Get path and tool configuration
 #
@@ -271,14 +277,14 @@ testbuild:
 	$(Q) (cd $(PX4_BASE) && $(MAKE) distclean && $(MAKE) archives && $(MAKE) -j8)
 	$(Q) (zip -r Firmware.zip $(PX4_BASE)/Images)
 
-posix:
+nuttx: 
-	make PX4_TARGET_OS=posix
+	make PX4_TARGET_OS=$@ $(wordlist 2,$(words $(MAKECMDGOALS)),$(MAKECMDGOALS))
 
-nuttx:
+posix: 
-	make PX4_TARGET_OS=nuttx
+	make PX4_TARGET_OS=$@ $(wordlist 2,$(words $(MAKECMDGOALS)),$(MAKECMDGOALS))
 
-qurt:
+qurt: 
-	make PX4_TARGET_OS=qurt
+	make PX4_TARGET_OS=$@ $(wordlist 2,$(words $(MAKECMDGOALS)),$(MAKECMDGOALS))
 
 posixrun:
 	Tools/posix_run.sh
@@ -327,9 +333,11 @@ help:
 	@$(ECHO) "  Available targets:"
 	@$(ECHO) "  ------------------"
 	@$(ECHO) ""
+ifeq ($(PX4_TARGET_OS),nuttx)
 	@$(ECHO) "  archives"
 	@$(ECHO) "    Build the NuttX RTOS archives that are used by the firmware build."
 	@$(ECHO) ""
+endif
 	@$(ECHO) "  all"
 	@$(ECHO) "    Build all firmware configs: $(CONFIGS)"
 	@$(ECHO) "    A limited set of configs can be built with CONFIGS=<list-of-configs>"
@@ -342,6 +350,7 @@ help:
 	@$(ECHO) "  clean"
 	@$(ECHO) "    Remove all firmware build pieces."
 	@$(ECHO) ""
+ifeq ($(PX4_TARGET_OS),nuttx)
 	@$(ECHO) "  distclean"
 	@$(ECHO) "    Remove all compilation products, including NuttX RTOS archives."
 	@$(ECHO) ""
@@ -350,6 +359,7 @@ help:
 	@$(ECHO) "    firmware to the board when the build is complete. Not supported for"
 	@$(ECHO) "    all configurations."
 	@$(ECHO) ""
+endif
 	@$(ECHO) "  testbuild"
 	@$(ECHO) "    Perform a complete clean build of the entire tree."
 	@$(ECHO) ""

Tools/generate_listener.py

@@ -91,6 +91,8 @@ print """
 #include <uORB/uORB.h>
 #include <string.h>
 #include <stdint.h>
+#define __STDC_FORMAT_MACROS
+#include <inttypes.h>
 """
 for m in messages:
 	print "#include <uORB/topics/%s.h>" % m
@@ -135,7 +137,7 @@ for index,m in enumerate(messages[1:]):
 			print "\t\t\t}"
 			print "\t\t\tprintf(\"\\n\");"
 		elif item[0] == "uint64":
-			print "\t\t\tprintf(\"%s: %%lu\\n \",container.%s);" % (item[1], item[1])
+			print "\t\t\tprintf(\"%s: %%\" PRIu64 \"\\n \",container.%s);" % (item[1], item[1])
 		elif item[0] == "uint8":
 			print "\t\t\tprintf(\"%s: %%u\\n \",container.%s);" % (item[1], item[1])
 		elif item[0] == "bool":

makefiles/firmware_posix.mk

@@ -32,7 +32,7 @@
 #
 # Built products
 #
-FIRMWARES		 = $(foreach config,$(KNOWN_CONFIGS),$(BUILD_DIR)$(config).build/firmware.a)
+FIRMWARES		 = $(foreach config,$(CONFIGS),$(BUILD_DIR)$(config).build/firmware.a)
 
 all: 	$(FIRMWARES)
 

makefiles/firmware_qurt.mk

@@ -32,7 +32,7 @@
 #
 # Built products
 #
-FIRMWARES		 = $(foreach config,$(KNOWN_CONFIGS),$(BUILD_DIR)$(config).build/firmware.a)
+FIRMWARES		 = $(foreach config,$(CONFIGS),$(BUILD_DIR)$(config).build/firmware.a)
 
 all: 	$(FIRMWARES)
 

makefiles/qurt/config_qurt_hello.mk

@@ -0,0 +1,73 @@
+#
+# Makefile for the Foo *default* configuration
+#
+
+#
+# Board support modules
+#
+MODULES		+= drivers/device
+#MODULES		+= drivers/blinkm
+#MODULES		+= drivers/hil
+#MODULES		+= drivers/led
+#MODULES		+= drivers/rgbled
+#MODULES		+= modules/sensors
+#MODULES		+= drivers/ms5611
+
+#
+# System commands
+#
+MODULES	+= systemcmds/param
+
+#
+# General system control
+#
+#MODULES		+= modules/mavlink
+
+#
+# Estimation modules (EKF/ SO3 / other filters)
+#
+#MODULES		+= modules/attitude_estimator_ekf
+#MODULES		+= modules/ekf_att_pos_estimator
+
+#
+# Vehicle Control
+#
+#MODULES		+= modules/mc_att_control
+
+#
+# Library modules
+#
+MODULES		+= modules/systemlib
+#MODULES		+= modules/systemlib/mixer
+MODULES		+= modules/uORB
+#MODULES		+= modules/dataman
+#MODULES		+= modules/sdlog2
+#MODULES		+= modules/simulator
+#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
+#MODULES		+= platforms/posix/drivers/accelsim
+#MODULES		+= platforms/posix/drivers/gyrosim
+#MODULES		+= platforms/posix/drivers/adcsim
+#MODULES		+= platforms/posix/drivers/barosim
+
+#
+# Unit tests
+#
+MODULES		+= platforms/qurt/tests/hello
+#MODULES		+= platforms/posix/tests/vcdev_test
+#MODULES		+= platforms/posix/tests/hrt_test
+#MODULES		+= platforms/posix/tests/wqueue
+

src/platforms/qurt/px4_layer/commands_default.c

@@ -0,0 +1,68 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+/**
+ * @file commands_default.c
+ * Commands to run for the "qurt_default" config
+ *
+ * @author Mark Charlebois <charlebm@gmail.com>
+ */
+
+const char *get_commands()
+{
+	static const char *commands =
+		"hello start\n"
+		"uorb start\n"
+		"simulator start -s\n"
+		"barosim start\n"
+		"adcsim start\n"
+		"accelsim start\n"
+		"gyrosim start\n"
+		"list_devices\n"
+		"list_topics\n"
+		"list_tasks\n"
+		"param show *\n"
+		"rgbled start\n"
+#if 0
+		"sensors start\n"
+		"param set CAL_GYRO0_ID 2293760\n"
+		"param set CAL_ACC0_ID 1310720\n"
+		"hil mode_pwm"
+		"param set CAL_ACC1_ID 1376256\n"
+		"param set CAL_MAG0_ID 196608\n"
+		"mavlink start -d /tmp/ttyS0\n"
+		"commander start\n"
+#endif
+		;
+
+	return commands;
+}

src/platforms/qurt/px4_layer/commands_hello.c

@@ -0,0 +1,45 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+/**
+ * @file commands_hello.c
+ * Commands to run for the "qurt_hello" config
+ *
+ * @author Mark Charlebois <charlebm@gmail.com>
+ */
+
+const char *get_commands()
+{
+	static const char *commands = "hello start";
+
+	return commands;
+}

src/platforms/qurt/px4_layer/main.cpp

@@ -50,30 +50,10 @@ using namespace std;
 extern void init_app_map(map<string,px4_main_t> &apps);
 extern void list_builtins(map<string,px4_main_t> &apps);
 
-static const char *commands = 
+__BEGIN_DECLS
-"hello start\n"
+// The commands to run are specified in a target file: commands_<target>.c
-"uorb start\n"
+extern const char *get_commands(void);
-"simulator start -s\n"
+__END_DECLS
-"barosim start\n"
-"adcsim start\n"
-"accelsim start\n"
-"gyrosim start\n"
-"list_devices\n"
-"list_topics\n"
-"list_tasks\n"
-"param show *\n"
-"rgbled start\n"
-#if 0
-"hil mode_pwm"
-"param set CAL_GYRO0_ID 2293760\n"
-"param set CAL_ACC0_ID 1310720\n"
-"param set CAL_ACC1_ID 1376256\n"
-"param set CAL_MAG0_ID 196608\n"
-"sensors start\n"
-"mavlink start -d /tmp/ttyS0\n"
-"commander start\n"
-#endif
-;
 
 static void run_cmd(map<string,px4_main_t> &apps, const vector<string> &appargs) {
 	// command is appargs[0]
@@ -158,7 +138,7 @@ int main(int argc, char **argv)
 	init_app_map(apps);
 	px4::init_once();
 	px4::init(argc, argv, "mainapp");
-	process_commands(apps, commands);
+	process_commands(apps, get_commands());
 	for (;;) {}
 }
 

src/platforms/qurt/px4_layer/module.mk

@@ -52,6 +52,12 @@ SRCS		 = 	\
 			sq_remfirst.c \
 			sq_addafter.c \
 			dq_rem.c \
-			main.cpp 
+			main.cpp
+ifeq ($(CONFIG),qurt_hello)
+SRCS +=			commands_hello.c
+endif
+ifeq ($(CONFIG),qurt_default)
+SRCS +=			commands_default.c
+endif
 
 MAXOPTIMIZATION	 = -Os