param: Build param without linker script

Changed to enable the posix_sitl_simple target to build and run

param show *

without using a linker script

Signed-off-by: Mark Charlebois <charlebm@gmail.com>

CMakeLists.txt

@@ -226,7 +226,7 @@ link_directories(${link_dirs})
 add_definitions(${definitions})
 
 #=============================================================================
-# source code generation}
+# source code generation
 #
 file(GLOB_RECURSE msg_files msg/*.msg)
 px4_generate_messages(TARGET msg_gen

Tools/px_generate_params.py

@@ -0,0 +1,53 @@
+#!/usr/bin/env python
+import xml.etree.ElementTree as ET
+import os
+
+if len(os.sys.argv) != 3:
+	print "Error in %s" % os.sys.argv[0]
+	print "Usage: %s <parameters.xml> <parameters.c>"
+	raise SystemExit
+
+fp = open(os.sys.argv[2], "w")
+
+tree = ET.parse(os.sys.argv[1])
+root = tree.getroot()
+body = """
+#include <stdint.h>
+#include <systemlib/param/param.h>
+
+// DO NOT EDIT
+// This file is autogenerated from paramaters.xml
+
+"""
+
+start_name = ""
+end_name = ""
+
+for group in root:
+	if group.tag == "group":
+		body += "// %s\n" % group.attrib["name"]
+		for param in group:
+			if not start_name:
+				start_name = param.attrib["name"]
+			end_name = param.attrib["name"]
+			body += """ 
+static const
+__attribute__((used, section("__param")))
+struct param_info_s __param__%s = {
+	"%s",
+	PARAM_TYPE_%s,
+	.val.f = %s
+};
+""" % (param.attrib["name"], param.attrib["name"], param.attrib["type"], param.attrib["default"])
+body += """
+extern const
+__attribute__((alias("__param__%s")))
+struct param_info_s __param_start;
+
+extern const
+__attribute__((alias("__param__%s")))
+struct param_info_s __param_end;
+""" % (start_name, end_name)
+
+fp.write(body)
+

cmake/common/px4_base.cmake

@@ -672,4 +672,18 @@ function(px4_create_git_hash_header)
 	configure_file(${CMAKE_SOURCE_DIR}/cmake/templates/build_git_version.h.in ${HEADER} @ONLY)
 endfunction()
 
+#=============================================================================
+# parameter file generation
+#
+function(px4_generate_parameters)
+	execute_process(
+		COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/Tools/px_process_params.py -s ${CMAKE_SOURCE_DIR}/src --board ${BOARD} --xml
+		)
+
+	execute_process(
+		COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/Tools/px_generate_params.py ${CMAKE_BINARY_DIR}/parameters.xml ${CMAKE_BINARY_DIR}/parameters.c
+		)
+endfunction()
+
+
 # vim: set noet fenc=utf-8 ff=unix nowrap:

src/firmware/posix/CMakeLists.txt

@@ -1,20 +1,18 @@
 include_directories(${CMAKE_CURRENT_BINARY_DIR})
 
+
 px4_posix_generate_builtin_commands(
 	OUT apps.h
 	MODULE_LIST ${module_libraries})
 
+px4_generate_parameters()
+
 add_executable(mainapp
 	${CMAKE_SOURCE_DIR}/src/platforms/posix/main.cpp
+	${CMAKE_BINARY_DIR}/parameters.c
 	apps.h
 	)
 
-set(main_link_flags
-	"-T${CMAKE_SOURCE_DIR}/cmake/posix/ld.script"
-	)
-px4_join(OUT main_link_flags LIST ${main_link_flags} GLUE " ")
-set_target_properties(mainapp PROPERTIES LINK_FLAGS ${main_link_flags})
-
 target_link_libraries(mainapp
 	-Wl,--start-group
 	${module_libraries}

src/modules/systemlib/param/param.c

@@ -86,9 +86,11 @@ extern struct param_info_s	param_array[];
 extern struct param_info_s	*param_info_base;
 extern struct param_info_s	*param_info_limit;
 #else
-extern char __param_start, __param_end;
+extern const struct param_info_s __param_start, __param_end;
-static const struct param_info_s *param_info_base = (struct param_info_s *) &__param_start;
+
-static const struct param_info_s *param_info_limit = (struct param_info_s *) &__param_end;
+// FIXME - start and end are reversed
+static const struct param_info_s *param_info_base = &__param_end;
+static const struct param_info_s *param_info_limit = &__param_start;
 #endif
 
 #define	param_info_count		((unsigned)(param_info_limit - param_info_base))

src/modules/systemlib/param/param.h

@@ -346,34 +346,13 @@ __EXPORT int 		param_load_default(void);
  */
 
 /** define an int32 parameter */
-#define PARAM_DEFINE_INT32(_name, _default)		\
+#define PARAM_DEFINE_INT32(_name, _default)
-	static const					\
-	__attribute__((used, section("__param")))	\
-	struct param_info_s __param__##_name = {	\
-		#_name,					\
-		PARAM_TYPE_INT32,			\
-		.val.i = _default			\
-	}
 
 /** define a float parameter */
-#define PARAM_DEFINE_FLOAT(_name, _default)		\
+#define PARAM_DEFINE_FLOAT(_name, _default)
-	static const					\
-	__attribute__((used, section("__param")))	\
-	struct param_info_s __param__##_name = {	\
-		#_name,					\
-		PARAM_TYPE_FLOAT,			\
-		.val.f = _default			\
-	}
 
 /** define a parameter that points to a structure */
-#define PARAM_DEFINE_STRUCT(_name, _default)		\
+#define PARAM_DEFINE_STRUCT(_name, _default)
-	static const					\
-	__attribute__((used, section("__param")))	\
-	struct param_info_s __param__##_name = {	\
-		#_name,					\
-		PARAM_TYPE_STRUCT + sizeof(_default),	\
-		.val.p = &_default			\
-	}
 
 /**
  * Parameter value union.