Merge pull request #2906 from mcharleb/cmake-2-qurt-unbreakage

Cmake 2 qurt unbreakage

CMakeLists.txt

@@ -219,7 +219,6 @@ px4_add_git_submodule(TARGET git_gtest PATH "unittets/gtest")
 px4_add_git_submodule(TARGET git_uavcan PATH "src/lib/uavcan")
 px4_add_git_submodule(TARGET git_eigen PATH "src/lib/eigen")
 px4_add_git_submodule(TARGET git_nuttx PATH "NuttX")
-px4_add_git_submodule(TARGET git_eigen32 PATH "src/lib/eigen-3.2")
 px4_add_git_submodule(TARGET git_dspal PATH "src/lib/dspal")
 
 add_custom_target(submodule_clean

cmake/common/px4_base.cmake

@@ -486,7 +486,6 @@ function(px4_add_common_flags)
 		-Wextra
 		#-Wshadow # very verbose due to eigen
 		-Wfloat-equal
-		-Wframe-larger-than=1024
 		-Wpointer-arith
 		-Wmissing-declarations
 		-Wpacked
@@ -506,10 +505,17 @@ function(px4_add_common_flags)
 		#               but generates too many false positives
 		)
 
+	if (NOT ${OS} STREQUAL "qurt")
+		list(APPEND warnings -Wframe-larger-than=1024)
+	endif()
+
 	if (${CMAKE_C_COMPILER_ID} STREQUAL "Clang")
-		list(APPEND warnings
+		# QuRT 6.4.X compiler identifies as Clang but does not support this option
-			-Wno-unused-const-variable
+		if (NOT ${OS} STREQUAL "qurt")
-		)
+			list(APPEND warnings
+				-Wno-unused-const-variable
+			)
+		endif()
 	else()
 		list(APPEND warnings
 			-Werror=unused-but-set-variable
@@ -609,11 +615,9 @@ function(px4_add_common_flags)
 		${CMAKE_SOURCE_DIR}/mavlink/include/mavlink
 		)
 
-	if (NOT ${OS} STREQUAL "qurt")
+	list(APPEND added_include_dirs
-		list(APPEND added_include_dirs
+		src/lib/eigen
-			${CMAKE_SOURCE_DIR}/src/lib/eigen
+		)
-			)
-	endif()
 
 	set(added_link_dirs) # none used currently
 

cmake/configs/qurt_eagle_hello.cmake

@@ -1,6 +1,6 @@
 include(qurt/px4_impl_qurt)
 
-set(CMAKE_TOOLCHAIN_FILE cmake/toolchains/Toolchain-hexagon.cmake)
+set(CMAKE_TOOLCHAIN_FILE cmake/toolchains/Toolchain-hexagon-7.4.cmake)
 
 set(config_module_list
 	drivers/device

cmake/configs/qurt_eagle_hil.cmake

@@ -1,6 +1,6 @@
 include(qurt/px4_impl_qurt)
 
-set(CMAKE_TOOLCHAIN_FILE cmake/toolchains/Toolchain-hexagon.cmake)
+set(CMAKE_TOOLCHAIN_FILE cmake/toolchains/Toolchain-hexagon-7.4.cmake)
 
 set(config_module_list
 	drivers/device

cmake/configs/qurt_eagle_muorb.cmake

@@ -1,6 +1,6 @@
 include(qurt/px4_impl_qurt)
 
-set(CMAKE_TOOLCHAIN_FILE cmake/toolchains/Toolchain-hexagon.cmake)
+set(CMAKE_TOOLCHAIN_FILE cmake/toolchains/Toolchain-hexagon-7.4.cmake)
 
 set(config_module_list
 	drivers/device

cmake/configs/qurt_eagle_release.cmake

@@ -20,7 +20,7 @@ set(target_libraries
 	)
 
 
-set(CMAKE_TOOLCHAIN_FILE cmake/toolchains/Toolchain-hexagon.cmake)
+set(CMAKE_TOOLCHAIN_FILE cmake/toolchains/Toolchain-hexagon-7.4.cmake)
 
 set(config_module_list
 	#

cmake/configs/qurt_eagle_test.cmake

@@ -1,6 +1,6 @@
 include(qurt/px4_impl_qurt)
 
-set(CMAKE_TOOLCHAIN_FILE cmake/toolchains/Toolchain-hexagon.cmake)
+set(CMAKE_TOOLCHAIN_FILE cmake/toolchains/Toolchain-hexagon-7.4.cmake)
 
 set(config_module_list
 	drivers/device

cmake/configs/qurt_eagle_travis.cmake

@@ -3,7 +3,7 @@ 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(CMAKE_TOOLCHAIN_FILE cmake/toolchains/Toolchain-hexagon.cmake)
+set(CMAKE_TOOLCHAIN_FILE cmake/toolchains/Toolchain-hexagon-7.4.cmake)
 
 set(config_module_list
 	drivers/device
@@ -41,6 +41,7 @@ set(config_module_list
 	modules/systemlib/mixer
 	modules/uORB
 	modules/commander
+	modules/controllib
 
 	#
 	# Libraries
@@ -50,7 +51,7 @@ set(config_module_list
 	lib/geo
 	lib/geo_lookup
 	lib/conversion
-	modules/controllib
+	lib/ecl
 
 	#
 	# QuRT port

cmake/qurt/px4_impl_qurt.cmake

@@ -167,7 +167,6 @@ function(px4_os_add_flags)
                 ${DSPAL_ROOT}/uart_esc/inc
                 src/platforms/qurt/include
                 src/platforms/posix/include
-		src/lib/eigen-3.2
                 )
 
         set(added_definitions
@@ -223,11 +222,14 @@ function(px4_os_prebuild_targets)
 			ONE_VALUE OUT BOARD THREADS
 			REQUIRED OUT BOARD
 			ARGN ${ARGN})
-	add_custom_target(${OUT} DEPENDS git_dspal git_eigen32)
+	add_custom_target(git_eigen_patched
-	add_custom_target(ALL DEPENDS git_eigen32)
+		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}/src/lib/eigen
-	execute_process(
+		COMMAND git checkout .
-		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}/src/lib/eigen-3.2
+		COMMAND patch -p1 -i ${CMAKE_SOURCE_DIR}/cmake/qurt/qurt_eigen.patch
-		COMMAND patch -p1 -i ../../../cmake/qurt/qurt_eigen.patch)
+		DEPENDS git_eigen)
+	add_custom_target(${OUT} DEPENDS git_dspal git_eigen_patched)
+	add_custom_target(ALL DEPENDS git_eigen)
+
 endfunction()
 
 # vim: set noet fenc=utf-8 ff=unix nowrap:

cmake/qurt/qurt_eigen.patch

@@ -1,17 +1,37 @@
-This patch is required for QuRT. complex.h defines "I" and it replaces "I" in the 
+diff --git a/Eigen/src/Core/util/Macros.h b/Eigen/src/Core/util/Macros.h
-enum definition without this patch creating an error.
+index 1ca1d66..9bc928b 100644
-
+--- a/Eigen/src/Core/util/Macros.h
-diff --git a/Eigen/src/Core/SolveTriangular.h b/Eigen/src/Core/SolveTriangular.h
++++ b/Eigen/src/Core/util/Macros.h
-index ef17f28..1116270 100644
+@@ -194,6 +194,12 @@
---- a/Eigen/src/Core/SolveTriangular.h
+   #define EIGEN_ARCH_PPC 0
-+++ b/Eigen/src/Core/SolveTriangular.h
+ #endif
-@@ -112,6 +112,9 @@ template<typename Lhs, typename Rhs, int Mode, int Index, int Size,
-          bool Stop = Index==Size>
- struct triangular_solver_unroller;
  
-+#ifdef __PX4_QURT
++/// \internal EIGEN_ARCH_HEXAGON set to 1 if the architecture is Hexagon
-+#undef I
++#ifdef __HEXAGON_ARCH__
++  #define EIGEN_ARCH_HEXAGON 1
++#else
++  #define EIGEN_ARCH_HEXAGON 0
 +#endif
- template<typename Lhs, typename Rhs, int Mode, int Index, int Size>
+ 
- struct triangular_solver_unroller<Lhs,Rhs,Mode,Index,Size,false> {
+ 
-   enum {
+ // Operating system identification, EIGEN_OS_*
+@@ -334,15 +340,16 @@
+ #endif
+ 
+ // Do we support r-value references?
+-#if (__has_feature(cxx_rvalue_references) || \
++#if ((__has_feature(cxx_rvalue_references) || \
+     (defined(__cplusplus) && __cplusplus >= 201103L) || \
+      defined(__GXX_EXPERIMENTAL_CXX0X__) || \
+-    (EIGEN_COMP_MSVC >= 1600))
++    (EIGEN_COMP_MSVC >= 1600)) && (!defined(EIGEN_ARCH_HEXAGON)))
+   #define EIGEN_HAVE_RVALUE_REFERENCES
+ #endif
+ 
+ // Does the compiler support result_of?
+-#if (__has_feature(cxx_lambdas) || (defined(__cplusplus) && __cplusplus >= 201103L))
++#if ((__has_feature(cxx_lambdas) || (defined(__cplusplus) && __cplusplus >= 201103L)) && \
++    (!defined(EIGEN_ARCH_HEXAGON)))
+ #define EIGEN_HAS_STD_RESULT_OF 1
+ #endif
+ 

cmake/toolchains/Toolchain-hexagon-7.4.cmake

@@ -0,0 +1,240 @@
+#
+# 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.
+#
+
+include(CMakeForceCompiler)
+
+list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake)
+include(common/px4_base)
+
+if(NOT HEXAGON_TOOLS_ROOT)
+	set(HEXAGON_TOOLS_ROOT /opt/7.4/Tools)
+endif()
+
+macro (list2string out in)
+	set(list ${ARGV})
+	list(REMOVE_ITEM list ${out})
+	foreach(item ${list})
+		set(${out} "${${out}} ${item}")
+	endforeach()
+endmacro(list2string)
+
+set(V_ARCH "v5")
+set(CROSSDEV "hexagon-")
+set(HEXAGON_BIN	${HEXAGON_TOOLS_ROOT}/bin)
+set(HEXAGON_LIB_DIR ${HEXAGON_TOOLS_ROOT}/gnu/hexagon/lib)
+set(HEXAGON_ISS_DIR ${HEXAGON_TOOLS_ROOT}/lib/iss)
+set(TOOLSLIB ${HEXAGON_TOOLS_ROOT}/target/hexagon/lib/${V_ARCH}/G0)
+
+# Use the HexagonTools compiler (6.4.05)
+set(CMAKE_C_COMPILER	${HEXAGON_BIN}/${CROSSDEV}clang)
+set(CMAKE_CXX_COMPILER  ${HEXAGON_BIN}/${CROSSDEV}clang++)
+
+set(CMAKE_AR	  ${HEXAGON_BIN}/${CROSSDEV}ar CACHE FILEPATH "Archiver")
+set(CMAKE_RANLIB  ${HEXAGON_BIN}/${CROSSDEV}ranlib)
+set(CMAKE_LINKER  ${HEXAGON_BIN}/${CROSSDEV}ld.qcld)
+set(CMAKE_NM	  ${HEXAGON_BIN}/${CROSSDEV}nm)
+set(CMAKE_OBJDUMP ${HEXAGON_BIN}/${CROSSDEV}objdump)
+set(CMAKE_OBJCOPY ${HEXAGON_BIN}/${CROSSDEV}objcopy)
+
+list2string(HEXAGON_INCLUDE_DIRS 
+	-I${HEXAGON_TOOLS_ROOT}/target/hexagon/include
+	)
+
+#set(DYNAMIC_LIBS  -Wl,${TOOLSLIB}/pic/libstdc++.a)
+
+#set(MAXOPTIMIZATION -O0)
+
+# Base CPU flags for each of the supported architectures.
+#
+set(ARCHCPUFLAGS
+	-m${V_ARCH}
+	-G0
+	)
+
+add_definitions(
+	-D_PID_T -D_UID_T -D_TIMER_T
+	-Dnoreturn_function= 
+	-D__EXPORT= 
+	-Drestrict=
+	-D_DEBUG
+	-Wno-error=shadow
+	)
+
+# optimisation flags
+#
+set(ARCHOPTIMIZATION
+	-O0
+	-g
+	-fno-strict-aliasing
+	-fdata-sections
+	-fno-zero-initialized-in-bss
+	)
+
+# Language-specific flags
+#
+set(ARCHCFLAGS
+	-std=gnu99
+	-D__CUSTOM_FILE_IO__
+	)
+set(ARCHCXXFLAGS
+	-fno-exceptions
+	-fno-rtti
+	-std=c++11
+	-fno-threadsafe-statics
+	-DCONFIG_WCHAR_BUILTIN
+	-D__CUSTOM_FILE_IO__
+	)
+
+set(ARCHWARNINGS
+	-Wall
+	-Wextra
+	-Werror
+	-Wno-unused-parameter
+	-Wno-unused-function
+	-Wno-unused-variable
+	-Wno-gnu-array-member-paren-init
+	-Wno-cast-align
+	-Wno-missing-braces
+	-Wno-strict-aliasing
+#   -Werror=float-conversion - works, just needs to be phased in with some effort and needs GCC 4.9+
+#   -Wcast-qual  - generates spurious noreturn attribute warnings, try again later
+#   -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
+#   -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
+	)
+
+# C-specific warnings
+#
+set(ARCHCWARNINGS
+	${ARCHWARNINGS}
+	-Wstrict-prototypes
+	-Wnested-externs
+	)
+
+# C++-specific warnings
+#
+set(ARCHWARNINGSXX
+	${ARCHWARNINGS}
+	-Wno-missing-field-initializers
+	)
+exec_program(${CMAKE_CXX_COMPILER} ${CMAKE_CURRENT_SOURCE_DIR} ARGS -print-libgcc-file-name OUTPUT_VARIABLE LIBGCC)
+exec_program(${CMAKE_CXX_COMPILER} ${CMAKE_CURRENT_SOURCE_DIR} ARGS -print-file-name=libm.a OUTPUT_VARIABLE LIBM)
+set(EXTRA_LIBS ${EXTRA_LIBS} ${LIBM})
+
+# Flags we pass to the C compiler
+#
+list2string(CFLAGS 
+	${ARCHCFLAGS}
+	${ARCHCWARNINGS}
+	${ARCHOPTIMIZATION}
+	${ARCHCPUFLAGS}
+	${ARCHINCLUDES}
+	${INSTRUMENTATIONDEFINES}
+	${ARCHDEFINES}
+	${EXTRADEFINES}
+	${EXTRACFLAGS}
+	${HEXAGON_INCLUDE_DIRS}
+	)
+
+# Flags we pass to the C++ compiler
+#
+list2string(CXXFLAGS
+	${ARCHCXXFLAGS}
+	${ARCHWARNINGSXX}
+	${ARCHOPTIMIZATION}
+	${ARCHCPUFLAGS}
+	${ARCHXXINCLUDES}
+	${INSTRUMENTATIONDEFINES}
+	${ARCHDEFINES}
+	${EXTRADEFINES}
+	${EXTRACXXFLAGS}
+	${HEXAGON_INCLUDE_DIRS}
+	)
+
+# Flags we pass to the assembler
+#
+list2string(AFLAGS
+	${CFLAGS} 
+	-D__ASSEMBLY__
+	${EXTRADEFINES}
+	${EXTRAAFLAGS}
+	)
+
+# Set cmake flags
+#
+list2string(CMAKE_C_FLAGS
+	${CMAKE_C_FLAGS}
+	${CFLAGS}
+	)
+
+set(QURT_CMAKE_C_FLAGS ${CMAKE_C_FLAGS} CACHE STRING "cflags")
+
+message(STATUS "CMAKE_C_FLAGS: -${CMAKE_C_FLAGS}-")
+
+list2string(CMAKE_CXX_FLAGS
+	${CMAKE_CXX_FLAGS}
+	${CXXFLAGS}
+	)
+
+set(QURT_CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGS} CACHE STRING "cxxflags")
+
+message(STATUS "CMAKE_CXX_FLAGS: -${CMAKE_CXX_FLAGS}-")
+
+# Flags we pass to the linker
+#
+list2string(CMAKE_EXE_LINKER_FLAGS
+	-g 
+	-mv5 
+	-mG0lib 
+	-G0 
+	-fpic 
+	-shared
+	-Wl,-Bsymbolic
+	-Wl,--wrap=malloc
+	-Wl,--wrap=calloc
+	-Wl,--wrap=free
+	-Wl,--wrap=realloc
+	-Wl,--wrap=memalign
+	-Wl,--wrap=__stack_chk_fail
+	-lc
+	${EXTRALDFLAGS}
+	)
+
+# where is the target environment 
+set(CMAKE_FIND_ROOT_PATH  get_file_component(${C_COMPILER} PATH))
+
+set(CMAKE_C_COMPILER_ID, "Clang")
+set(CMAKE_CXX_COMPILER_ID, "Clang")
+
+# search for programs in the build host directories
+set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
+# for libraries and headers in the target directories
+set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
+set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)

src/drivers/drv_hrt.h

@@ -44,7 +44,7 @@
 #define __STDC_FORMAT_MACROS
 #include <inttypes.h>
 
-#include <time.h>
+#include <px4_time.h>
 #include <queue.h>
 
 __BEGIN_DECLS

src/firmware/qurt/CMakeLists.txt

@@ -1,10 +1,5 @@
 include_directories(${CMAKE_CURRENT_BINARY_DIR})
 
-set(V_ARCH v5)
-set(HEXAGON_TOOLS_ROOT /opt/6.4.03)
-set(TOOLSLIB 
-	${HEXAGON_TOOLS_ROOT}/dinkumware/lib/${V_ARCH}/G0)
-
 px4_qurt_generate_builtin_commands(
 	OUT ${CMAKE_BINARY_DIR}/apps.h
 	MODULE_LIST ${module_libraries})

src/modules/attitude_estimator_q/CMakeLists.txt

@@ -29,12 +29,17 @@
 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 # POSSIBILITY OF SUCH DAMAGE.
 #
-############################################################################
+#############################################################################
+set(MODULE_CFLAGS)
+if (NOT ${OS} STREQUAL "qurt")
+	list(APPEND MODULE_CFLAGS
+		-Wframe-larger-than=1400)
+endif()
 px4_add_module(
 	MODULE modules__attitude_estimator_q
 	MAIN attitude_estimator_q
 	COMPILE_FLAGS
-		-Wframe-larger-than=1400
+		${MODULE_CFLAGS}
 	STACK 1200
 	SRCS
 		attitude_estimator_q_main.cpp

src/modules/commander/CMakeLists.txt

@@ -30,13 +30,18 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
+set(MODULE_CFLAGS -Os)
+
+if(NOT ${OS} STREQUAL "qurt")
+	list(APPEND MODULE_CFLAGS
+		-Wframe-larger-than=2200)
+endif()
 px4_add_module(
 	MODULE modules__commander
 	MAIN commander
 	STACK 5000
 	COMPILE_FLAGS
-		-Wframe-larger-than=2200
+		${MODULE_CFLAGS}
-		-Os
 	SRCS
 		commander.cpp
 		commander_params.c

src/modules/ekf_att_pos_estimator/CMakeLists.txt

@@ -30,13 +30,16 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
+
+set(MODULE_CFLAGS -Weffc++)
+if(NOT ${OS} STREQUAL "qurt")
+	list(APPEND MODULE_CFLAGS -Wframe-larger-than=3400)
+endif()
+
 px4_add_module(
 	MODULE modules__ekf_att_pos_estimator
 	MAIN ekf_att_pos_estimator
-	COMPILE_FLAGS
+	COMPILE_FLAGS ${MODULE_CFLAGS}
-		-Weffc++
-		-Wframe-larger-than=3400
-		-O3
 	SRCS
 		ekf_att_pos_estimator_main.cpp
 		ekf_att_pos_estimator_params.c

src/modules/position_estimator_inav/CMakeLists.txt

@@ -30,12 +30,15 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
+set(MODULE_CFLAGS)
+if(NOT ${OS} STREQUAL "qurt")
+	list(APPEND MODULE_CFLAGS -Wframe-larger-than=3800)
+endif()
 px4_add_module(
 	MODULE modules__position_estimator_inav
 	MAIN position_estimator_inav
 	STACK 1200
-	COMPILE_FLAGS
+	COMPILE_FLAGS ${MODULE_CFLAGS}
-		-Wframe-larger-than=3800
 		
 	SRCS
 		position_estimator_inav_main.c

src/modules/sensors/sensors.cpp

@@ -366,7 +366,7 @@ private:
 
 
 	int		init_sensor_class(const struct orb_metadata *meta, int *subs,
-				unsigned *priorities, unsigned *errcount);
+				uint32_t *priorities, uint32_t *errcount);
 
 	/**
 	 * Update our local parameter cache.
@@ -1949,7 +1949,7 @@ Sensors::task_main_trampoline(int argc, char *argv[])
 
 int
 Sensors::init_sensor_class(const struct orb_metadata *meta, int *subs,
-	unsigned *priorities, unsigned *errcount)
+	uint32_t *priorities, uint32_t *errcount)
 {
 	unsigned group_count = orb_group_count(meta);
 

src/platforms/posix/work_queue/hrt_thread.c

@@ -40,6 +40,7 @@
 
 #include <px4_config.h>
 #include <px4_defines.h>
+#include <px4_posix.h>
 #include <stdint.h>
 #include <signal.h>
 #include <stdio.h>

src/platforms/qurt/px4_layer/drv_hrt.c

@@ -37,10 +37,12 @@
  * High-resolution timer with callouts and timekeeping.
  */
 
+#include <px4_defines.h>
 #include <px4_workqueue.h>
 #include <drivers/drv_hrt.h>
 #include <semaphore.h>
 #include <time.h>
+#include <dspal_time.h>
 #include <string.h>
 #include <stdio.h>
 

src/systemcmds/mixer/CMakeLists.txt

@@ -30,13 +30,18 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
+set(MIXER_CFLAGS -Os)
+if(${OS} STREQUAL "qurt")
+	list(APPEND MIXER_CFLAGS -Wframe-larger-than=2176)
+else()
+	list(APPEND MIXER_CFLAGS -Wframe-larger-than=2048)
+endif()
+
 px4_add_module(
 	MODULE systemcmds__mixer
 	MAIN mixer
 	STACK 4096
-	COMPILE_FLAGS
+	COMPILE_FLAGS ${MIXER_CFLAGS}
-		-Wframe-larger-than=2048
-		-Os
 	SRCS
 		mixer.cpp
 	DEPENDS