From b046caa97b4c3aa2446786539abe89c320adc2dc Mon Sep 17 00:00:00 2001 From: Mark Charlebois Date: Thu, 30 Jul 2015 16:48:10 -0700 Subject: [PATCH] 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 --- makefiles/qurt/config_qurt_adsp.mk | 66 ++++++++++++++++++++++++ makefiles/qurt/config_qurt_hil.mk | 2 +- makefiles/qurt/config_qurt_muorb_test.mk | 32 ++++++------ makefiles/qurt/qurt.mk | 2 +- makefiles/qurt/toolchain_hexagon.mk | 22 ++++++-- 5 files changed, 103 insertions(+), 21 deletions(-) create mode 100644 makefiles/qurt/config_qurt_adsp.mk diff --git a/makefiles/qurt/config_qurt_adsp.mk b/makefiles/qurt/config_qurt_adsp.mk new file mode 100644 index 0000000000..75b1bc429f --- /dev/null +++ b/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/ diff --git a/makefiles/qurt/config_qurt_hil.mk b/makefiles/qurt/config_qurt_hil.mk index 02082e8335..0ad265fb35 100644 --- a/makefiles/qurt/config_qurt_hil.mk +++ b/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 # diff --git a/makefiles/qurt/config_qurt_muorb_test.mk b/makefiles/qurt/config_qurt_muorb_test.mk index 6b30b77d1b..71b3bb9e20 100644 --- a/makefiles/qurt/config_qurt_muorb_test.mk +++ b/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 diff --git a/makefiles/qurt/qurt.mk b/makefiles/qurt/qurt.mk index 612dd0bd16..00bbe8dc8f 100644 --- a/makefiles/qurt/qurt.mk +++ b/makefiles/qurt/qurt.mk @@ -35,5 +35,5 @@ # MODULES += \ - platforms/common + platforms/common diff --git a/makefiles/qurt/toolchain_hexagon.mk b/makefiles/qurt/toolchain_hexagon.mk index d8e6427e4e..46696bd080 100644 --- a/makefiles/qurt/toolchain_hexagon.mk +++ b/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)