Rebase changes on upstream master

This brings in many of the changes from the PX4 fork on ATLFLight.

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

cmake/common/px4_base.cmake

@@ -90,7 +90,7 @@ include(CMakeParseArguments)
 #		endfunction()
 #
 #		test(NAME "hello" LIST a b c)
-#		
+#
 #		OUTPUT:
 #			name: hello
 #			list: a b c
@@ -349,11 +349,11 @@ function(px4_generate_messages)
 		list(APPEND msg_files_out ${msg_out_path}/${msg}.h)
 	endforeach()
 	add_custom_command(OUTPUT ${msg_files_out}
-		COMMAND ${PYTHON_EXECUTABLE} 
+		COMMAND ${PYTHON_EXECUTABLE}
 			Tools/px_generate_uorb_topic_headers.py
 			${QUIET}
 			-d msg
-			-o ${msg_out_path} 
+			-o ${msg_out_path}
 			-e msg/templates/uorb
 			-t ${CMAKE_BINARY_DIR}/topics_temporary
 		DEPENDS ${DEPENDS} ${MSG_FILES}
@@ -370,11 +370,11 @@ function(px4_generate_messages)
 		list(APPEND msg_multi_files_out ${msg_multi_out_path}/px4_${msg}.h)
 	endforeach()
 	add_custom_command(OUTPUT ${msg_multi_files_out}
-		COMMAND ${PYTHON_EXECUTABLE} 
+		COMMAND ${PYTHON_EXECUTABLE}
 			Tools/px_generate_uorb_topic_headers.py
 			${QUIET}
 			-d msg
-			-o ${msg_multi_out_path} 
+			-o ${msg_multi_out_path}
 			-e msg/templates/px4/uorb
 			-t ${CMAKE_BINARY_DIR}/multi_topics_temporary/${OS}
 			-p "px4_"
@@ -556,6 +556,7 @@ function(px4_add_common_flags)
 			-funsafe-math-optimizations
 			-ffunction-sections
 			-fdata-sections
+			-fPIC
 			)
 	endif()
 
@@ -685,7 +686,7 @@ endfunction()
 #	Input:
 #		dirname					: path to module dir
 #
-#	Output: 
+#	Output:
 #		newname					: module name
 #
 #	Example:
@@ -716,8 +717,8 @@ endfunction()
 function(px4_create_git_hash_header)
 	px4_parse_function_args(
 		NAME px4_create_git_hash_header
-		ONE_VALUE HEADER 
-		REQUIRED HEADER 
+		ONE_VALUE HEADER
+		REQUIRED HEADER
 		ARGN ${ARGN})
 	execute_process(
 		COMMAND git rev-parse HEAD

cmake/configs/nuttx_px4fmu-v2_default.cmake

@@ -83,6 +83,7 @@ set(config_module_list
 	modules/attitude_estimator_q
 	modules/ekf_att_pos_estimator
 	modules/position_estimator_inav
+	modules/ekf2
 
 	#
 	# Vehicle Control

cmake/configs/posix_eagle_default.cmake

@@ -1,6 +1,9 @@
 include(posix/px4_impl_posix)
 
 set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
+include(${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/qurt_app.cmake)
+
+set(CONFIG_SHMEM "1")
 
 set(config_module_list
 	drivers/device

cmake/configs/posix_eagle_release.cmake

@@ -16,8 +16,14 @@ set(CMAKE_PROGRAM_PATH
 
 set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
 
+set(CONFIG_SHMEM "1")
+
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DENABLE_SHMEM")
+
 set(config_module_list
 	drivers/device
+	drivers/boards/sitl
+	drivers/led
 
 	systemcmds/param
 	systemcmds/ver
@@ -28,6 +34,9 @@ set(config_module_list
 	modules/systemlib
 	modules/uORB
 	modules/dataman
+	modules/sdlog2
+	modules/simulator
+	modules/commander
 
 	lib/mathlib
 	lib/mathlib/math/filter

cmake/configs/qurt_eagle_release.cmake

@@ -1,18 +1,38 @@
 include(qurt/px4_impl_qurt)
 
-if ("${HEXAGON_DRIVERS_ROOT}" STREQUAL "")
-	message(FATAL_ERROR "HEXAGON_DRIVERS_ROOT is not set")
+if ("$ENV{EAGLE_ADDON_ROOT}" STREQUAL "")
+	message(FATAL_ERROR "Enviroment variable EAGLE_ADDON_ROOT must be set")
+else()
+	set(EAGLE_ADDON_ROOT $ENV{EAGLE_ADDON_ROOT})
 endif()
 
-if ("${EAGLE_DRIVERS_SRC}" STREQUAL "")
-	message(FATAL_ERROR "EAGLE_DRIVERS_SRC is not set")
+if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
+	message(FATAL_ERROR "Enviroment variable HEXAGON_SDK_ROOT must be set")
+else()
+	set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
 endif()
 
-include_directories(${HEXAGON_DRIVERS_ROOT}/inc)
+if ("$ENV{EAGLE_DRIVERS_SRC}" STREQUAL "")
+	message(FATAL_ERROR "Environment variable EAGLE_DRIVERS_SRC must be set")
+else()
+	set(EAGLE_DRIVERS_SRC $ENV{EAGLE_DRIVERS_SRC})
+endif()
+
+STRING(REGEX REPLACE "//" "/" EAGLE_DRIVERS_SRC ${EAGLE_DRIVERS_SRC})
+STRING(REGEX REPLACE "/" "__" EAGLE_DRIVERS_MODULE_PREFIX ${EAGLE_DRIVERS_SRC})
+
+include_directories(${EAGLE_ADDON_ROOT}/flight_controller/hexagon/inc)
+include_directories(${HEXAGON_SDK_ROOT}/lib/common/qurt/ADSPv5MP/include)
+
+message("hexagon_sdk_root is ${HEXAGON_SDK_ROOT}")
+
+set(QURT_ENABLE_STUBS "0")
+
+set(CONFIG_SHMEM "1")
 
 # For Actual flight we need to link against the driver dynamic libraries
 set(target_libraries
-	-L${HEXAGON_DRIVERS_ROOT}/libs 
+	-L${EAGLE_ADDON_ROOT}/flight_controller/hexagon/libs 
 	mpu9x50
 	uart_esc
 	csr_gps
@@ -29,10 +49,10 @@ set(config_module_list
 	#
 	drivers/device
 	modules/sensors
-	$(EAGLE_DRIVERS_SRC)/mpu9x50
-	$(EAGLE_DRIVERS_SRC)/uart_esc
-	$(EAGLE_DRIVERS_SRC)/rc_receiver
-	$(EAGLE_DRIVERS_SRC)/csr_gps
+	${EAGLE_DRIVERS_SRC}/mpu9x50
+	${EAGLE_DRIVERS_SRC}/uart_esc
+	${EAGLE_DRIVERS_SRC}/rc_receiver
+	${EAGLE_DRIVERS_SRC}/csr_gps
 
 	#
 	# System commands

cmake/configs/qurt_eagle_travis.cmake

@@ -1,11 +1,19 @@
 include(qurt/px4_impl_qurt)
 
 # Run a full link with build stubs to make sure qurt target isn't broken
-set(QURT_ENABLE_STUBS "1")
+set(QURT_ENABLE_STUBS "0")
 
 set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
 include(${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/qurt_app.cmake)
 
+if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
+	message(FATAL_ERROR "Enviroment variable HEXAGON_SDK_ROOT must be set")
+else()
+	set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
+endif()
+
+include_directories(${HEXAGON_SDK_ROOT}/lib/common/qurt/ADSPv5MP/include)
+
 set(config_module_list
 	drivers/device
 	drivers/boards/sitl

cmake/posix/px4_impl_posix.cmake

@@ -182,6 +182,7 @@ if(UNIX AND APPLE)
 
 else()
 
+
         set(added_definitions
 		-D__PX4_POSIX
 		-D__PX4_LINUX 
@@ -196,12 +197,33 @@ else()
 		)
 
 endif()
+
+if ("${BOARD}" STREQUAL "eagle")
+
+	if ("$ENV{HEXAGON_ARM_SYSROOT}" STREQUAL "")
+		message(FATAL_ERROR "HEXAGON_ARM_SYSROOT not set")
+	else()
+		set(HEXAGON_ARM_SYSROOT $ENV{HEXAGON_ARM_SYSROOT})
+	endif()
 	
+	# Add the toolchain specific flags
+	set(HEXAGON_ARM_SYSROOT ${HEXAGON_SDK_ROOT}/sysroot)
+        set(added_cflags ${POSIX_CMAKE_C_FLAGS} --sysroot=${HEXAGON_ARM_SYSROOT})
+        set(added_cxx_flags ${POSIX_CMAKE_CXX_FLAGS} --sysroot=${HEXAGON_ARM_SYSROOT})
+
+        list(APPEND added_exe_linker_flags
+		-Wl,-rpath-link,${HEXAGON_ARM_SYSROOT}/usr/lib/arm-linux-gnueabihf
+		-Wl,-rpath-link,${HEXAGON_ARM_SYSROOT}/lib/arm-linux-gnueabihf
+		--sysroot=${HEXAGON_ARM_SYSROOT}
+		)
+else()
 
 	# Add the toolchain specific flags
         set(added_cflags ${POSIX_CMAKE_C_FLAGS})
         set(added_cxx_flags ${POSIX_CMAKE_CXX_FLAGS})
 
+endif()
+
 	# output
 	foreach(var ${inout_vars})
 		string(TOLOWER ${var} lower_var)

cmake/qurt/apps.h_in

@@ -36,9 +36,9 @@ ${builtin_apps_string}
 
 void list_builtins(map<string,px4_main_t> &apps)
 {
-	printf("Builtin Commands:\\n");
+	PX4_INFO("Builtin Commands:\\n");
 	for (map<string,px4_main_t>::iterator it=apps.begin(); it!=apps.end(); ++it)
-		printf("\\t%s\\n", (it->first).c_str());
+		PX4_INFO("%s : 0x%x\n", (it->first).c_str(), it->second);
 }
 
 static int shutdown_main(int argc, char *argv[])

cmake/qurt/px4_impl_qurt.cmake

@@ -158,7 +158,7 @@ function(px4_os_add_flags)
 		LINK_DIRS ${LINK_DIRS}
 		DEFINITIONS ${DEFINITIONS})
 
-        set(DSPAL_ROOT src/lib/dspal)
+        set(DSPAL_ROOT src/lib/DriverFramework/dspal)
         set(added_include_dirs
                 ${DSPAL_ROOT}/include 
                 ${DSPAL_ROOT}/sys 
@@ -222,7 +222,7 @@ function(px4_os_prebuild_targets)
 			ONE_VALUE OUT BOARD THREADS
 			REQUIRED OUT BOARD
 			ARGN ${ARGN})
-	add_custom_target(${OUT} DEPENDS git_dspal)
+	add_custom_target(${OUT} DEPENDS git_driverframework)
 
 endfunction()
 

cmake/qurt/qurt_funcs.cmake

@@ -45,4 +45,3 @@
 #
 # The macros are called from the top level CMakeLists.txt
 #
-px4_add_git_submodule(TARGET git_dspal PATH "src/lib/dspal")

cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake

@@ -17,6 +17,12 @@
 
 include(CMakeForceCompiler)
 
+if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
+        message(FATAL_ERROR "HEXAGON_SDK_ROOT not set")
+else()
+        set(HEXAGON_TOOLS_ROOT $ENV{HEXAGON_SDK_ROOT})
+endif()
+
 # this one is important
 set(CMAKE_SYSTEM_NAME Generic)
 
@@ -24,13 +30,19 @@ set(CMAKE_SYSTEM_NAME Generic)
 set(CMAKE_SYSTEM_VERSION 1)
 
 # specify the cross compiler
-find_program(C_COMPILER arm-linux-gnueabihf-gcc)
+find_program(C_COMPILER arm-linux-gnueabihf-gcc
+	PATHS ${HEXAGON_SDK_ROOT}/gcc-linaro-arm-linux-gnueabihf-4.8-2013.08_linux/bin
+	NO_DEFAULT_PATH
+	)
 if(NOT C_COMPILER)
 	message(FATAL_ERROR "could not find arm-linux-gnueabihf-gcc compiler")
 endif()
 cmake_force_c_compiler(${C_COMPILER} GNU)
 
-find_program(CXX_COMPILER arm-linux-gnueabihf-g++)
+find_program(CXX_COMPILER arm-linux-gnueabihf-g++
+	PATHS ${HEXAGON_SDK_ROOT}/gcc-linaro-arm-linux-gnueabihf-4.8-2013.08_linux/bin
+	NO_DEFAULT_PATH
+	)
 if(NOT CXX_COMPILER)
 	message(FATAL_ERROR "could not find arm-linux-gnueabihf-g++ compiler")
 endif()
@@ -39,7 +51,10 @@ cmake_force_cxx_compiler(${CXX_COMPILER} GNU)
 # compiler tools
 foreach(tool objcopy nm ld)
 	string(TOUPPER ${tool} TOOL)
-	find_program(${TOOL} arm-linux-gnueabihf-${tool})
+	find_program(${TOOL} arm-linux-gnueabihf-${tool}
+		PATHS ${HEXAGON_SDK_ROOT}/gcc-linaro-arm-linux-gnueabihf-4.8-2013.08_linux/bin
+		NO_DEFAULT_PATH
+		)
 	if(NOT ${TOOL})
 		message(FATAL_ERROR "could not find arm-linux-gnueabihf-${tool}")
 	endif()
@@ -54,8 +69,11 @@ foreach(tool echo patch grep rm mkdir nm genromfs cp touch make unzip)
 	endif()
 endforeach()
 
+set(C_FLAGS "--sysroot=${HEXAGON_SDK_ROOT}/sysroot")
 set(LINKER_FLAGS "-Wl,-gc-sections")
 set(CMAKE_EXE_LINKER_FLAGS ${LINKER_FLAGS})
+set(CMAKE_C_FLAGS ${C_FLAGS})
+set(CMAKE_CXX_LINKER_FLAGS ${C_FLAGS})
 
 # where is the target environment 
 set(CMAKE_FIND_ROOT_PATH  get_file_component(${C_COMPILER} PATH))