Merge pull request #2626 from mcharleb/qurt-build-updates

QuRT: build configuration changes

makefiles/qurt/config_qurt_adsp.mk

@@ -0,0 +1,66 @@
+#
+# 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/

makefiles/qurt/config_qurt_hil.mk

@@ -46,7 +46,7 @@ MODULES		+= modules/systemlib/mixer
 MODULES		+= modules/uORB
 #MODULES		+= modules/dataman
 #MODULES		+= modules/sdlog2
-MODULES		+= modules/simulator
+#MODULES		+= modules/simulator
 MODULES		+= modules/commander
 
 #

makefiles/qurt/config_qurt_muorb_test.mk

@@ -7,17 +7,17 @@
 #
 MODULES		+= drivers/device
 #MODULES		+= drivers/blinkm
-MODULES		+= drivers/hil
-MODULES		+= drivers/led
-MODULES		+= drivers/rgbled
-MODULES		+= modules/sensors
+#MODULES		+= drivers/hil
+#MODULES		+= drivers/led
+#MODULES		+= drivers/rgbled
+#MODULES		+= modules/sensors
 #MODULES		+= drivers/ms5611
 
 #
 # System commands
 #
-MODULES	+= systemcmds/param
-MODULES += systemcmds/mixer
+#MODULES	+= systemcmds/param
+#MODULES += systemcmds/mixer
 
 #
 # General system control
@@ -28,24 +28,24 @@ MODULES += systemcmds/mixer
 # Estimation modules (EKF/ SO3 / other filters)
 #
 #MODULES		+= modules/attitude_estimator_ekf
-MODULES		+= modules/ekf_att_pos_estimator
+#MODULES		+= modules/ekf_att_pos_estimator
 
 #
 # Vehicle Control
 #
-MODULES		+= modules/mc_att_control
-MODULES		+= modules/mc_pos_control
+#MODULES		+= modules/mc_att_control
+#MODULES		+= modules/mc_pos_control
 
 #
 # Library modules
 #
 MODULES		+= modules/systemlib
-MODULES		+= modules/systemlib/mixer
+#MODULES		+= modules/systemlib/mixer
 MODULES		+= modules/uORB
 #MODULES		+= modules/dataman
 #MODULES		+= modules/sdlog2
-MODULES		+= modules/simulator
-MODULES		+= modules/commander
+#MODULES		+= modules/simulator
+#MODULES		+= modules/commander
 
 #
 # Libraries
@@ -61,10 +61,10 @@ MODULES		+= lib/conversion
 #
 MODULES		+= platforms/qurt/px4_layer
 MODULES		+= platforms/posix/work_queue
-MODULES		+= platforms/posix/drivers/accelsim
-MODULES		+= platforms/posix/drivers/gyrosim
-MODULES		+= platforms/posix/drivers/adcsim
-MODULES		+= platforms/posix/drivers/barosim
+#MODULES		+= platforms/posix/drivers/accelsim
+#MODULES		+= platforms/posix/drivers/gyrosim
+#MODULES		+= platforms/posix/drivers/adcsim
+#MODULES		+= platforms/posix/drivers/barosim
 
 #
 # Unit tests

makefiles/qurt/qurt.mk

@@ -35,5 +35,5 @@
 #
 
 MODULES += \
-		platforms/common 
+	platforms/common 
 

makefiles/qurt/toolchain_hexagon.mk

@@ -35,9 +35,17 @@
 
 #$(info TOOLCHAIN  gnu-arm-eabi)
 
+#
+# Stop making if ADSP_LIB_ROOT is not set. This defines the path to
+# DspAL headers and driver headers
+#
+ifndef DSPAL_ROOT
+$(error DSPAL_ROOT is not set)
+endif
+
 # Toolchain commands. Normally only used inside this file.
 #
-HEXAGON_TOOLS_ROOT	 = /opt/6.4.03
+HEXAGON_TOOLS_ROOT	 ?= /opt/6.4.03
 #HEXAGON_TOOLS_ROOT	 = /opt/6.4.05
 HEXAGON_SDK_ROOT	 = /opt/Hexagon_SDK/2.0
 V_ARCH			 = v5
@@ -115,8 +123,12 @@ ARCHDEFINES		+= -DCONFIG_ARCH_BOARD_$(CONFIG_BOARD) \
 			    -D__EXPORT= \
 			    -Drestrict= \
                             -D_DEBUG \
-			    -I$(PX4_BASE)/../dspal/include \
-			    -I$(PX4_BASE)/../dspal/sys \
+			    -I$(DSPAL_ROOT)/ \
+			    -I$(DSPAL_ROOT)/dspal/include \
+			    -I$(DSPAL_ROOT)/dspal/sys \
+			    -I$(DSPAL_ROOT)/dspal/sys/sys \
+			    -I$(DSPAL_ROOT)/mpu_spi/inc/ \
+			    -I$(DSPAL_ROOT)/uart_esc/inc/ \
 			    -I$(HEXAGON_TOOLS_ROOT)/gnu/hexagon/include \
 			    -I$(PX4_BASE)/src/lib/eigen \
 			    -I$(PX4_BASE)/src/platforms/qurt/include \
@@ -233,6 +245,10 @@ LDFLAGS			+=  -g -mv5 -mG0lib -G0 -fpic -shared \
 			   $(EXTRALDFLAGS) \
 			   $(addprefix -L,$(LIB_DIRS))
 
+# 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
+
 # Compiler support library
 #
 LIBGCC			:= $(shell $(CC) $(ARCHCPUFLAGS) -print-libgcc-file-name)