AP_HAL_QURT: Bunch of changes to link everything properly and call th…

…e run method
modalai · May 21, 2024 · 2bc85ba · 2bc85ba
1 parent ec9d4c1
commit 2bc85ba
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Showing 5 changed files with 64 additions and 17 deletions.
diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
@@ -1666,8 +1666,7 @@ def configure_env(self, cfg, env):
         super(QURT, self).configure_env(cfg, env)
 
         env.BOARD_CLASS = "QURT"
-        env.HEAXGON_APP = "libardupilot.so"
-        env.HEXAGON_LINKFLAGS = f"-march=hexagon -mcpu=hexagonv66 -fpic -shared -call_shared -mG0lib -G0 {cfg.env.TOOLCHAIN_DIR}/target/hexagon/lib/v66/G0/pic/initS.o -L{cfg.env.TOOLCHAIN_DIR}/target/hexagon/lib/v66/G0/pic -Bsymbolic {cfg.env.TOOLCHAIN_DIR}/target/hexagon/lib/v66/G0/pic/libgcc.a --wrap=malloc --wrap=calloc --wrap=free --wrap=realloc --wrap=memalign --wrap=__stack_chk_fail -lc -soname={env.HEXAGON_APP} --start-group --whole-archive OBJECT_LIST --end-group  --start-group -lgcc --end-group {cfg.env.TOOLCHAIN_DIR}/target/hexagon/lib/v66/G0/pic/finiS.o"
+        env.HEXAGON_APP = "libardupilot.so"
         env.INCLUDES += [cfg.env.HEXAGON_SDK_DIR + "/rtos/qurt/computev66/include/qurt"]
         env.INCLUDES += [cfg.env.HEXAGON_SDK_DIR + "/rtos/qurt/computev66/include/posix"]
         env.CXXFLAGS += ["-fPIC", "-MD"]
@@ -1679,6 +1678,18 @@ def configure_env(self, cfg, env):
             AP_SIM_ENABLED = 0,
         )
 
+# The linking has to be done very precisely for QURT. Below is an example of a
+# linker run_str that works correctly. This needs to be modified in the waflib/Tools/cxx.py
+# file in the waf submodule
+
+# class cxxprogram(link_task):
+# 	"Links object files into c++ programs"
+# 	# run_str = '${LINK_CXX} ${LINKFLAGS} ${CXXLNK_SRC_F}${SRC} ${CXXLNK_TGT_F}${TGT[0].relpath()} ${RPATH_ST:RPATH} ${FRAMEWORKPATH_ST:FRAMEWORKPATH} ${FRAMEWORK_ST:FRAMEWORK} ${ARCH_ST:ARCH} ${STLIB_MARKER} ${STLIBPATH_ST:STLIBPATH} ${STLIB_ST:STLIB} ${SHLIB_MARKER} ${LIBPATH_ST:LIBPATH} ${LIB_ST:LIB} ${LDFLAGS}'
+# 	run_str = '${LINK_CXX} ${CXXLNK_TGT_F} ${TGT[0].relpath()} ${LINKFLAGS} ${STLIBPATH_ST:STLIBPATH} --start-group --whole-archive ${CXXLNK_SRC_F}${SRC} ${STLIB_ST:STLIB} --end-group --start-group -lgcc --end-group /opt/hexagon-sdk/4.1.0.4-lite/tools/HEXAGON_Tools/8.4.05/Tools/target/hexagon/lib/v66/G0/pic/finiS.o'
+# 	vars    = ['LINKDEPS']
+# 	ext_out = ['.bin']
+# 	inst_to = '${BINDIR}'
+
         env.LINKFLAGS = [
             "-march=hexagon",
             "-mcpu=hexagonv66",
@@ -1696,14 +1707,7 @@ def configure_env(self, cfg, env):
             "--wrap=memalign",
             "--wrap=__stack_chk_fail",
             "-lc",
-            f"-soname={cfg.env.HEXAGON_APP}",
-            "--start-group",
-            "--whole-archive",
-            "--end-group",
-            "--start-group",
-            "-lgcc",
-            "--end-group",
-            cfg.env.TOOLCHAIN_DIR + "/target/hexagon/lib/v66/G0/pic/finiS.o"
+            "-lc++"
         ]
 
         if not cfg.env.DEBUG:

diff --git a/libraries/AP_HAL/board/qurt.h b/libraries/AP_HAL/board/qurt.h
@@ -1,5 +1,7 @@
 #pragma once
 
+#include <AP_HAL_QURT/AP_HAL_QURT_Main.h>
+
 #define HAL_BOARD_NAME "QURT"
 #define HAL_CPU_CLASS HAL_CPU_CLASS_1000
 #define HAL_MEM_CLASS HAL_MEM_CLASS_1000

diff --git a/libraries/AP_HAL_QURT/AP_HAL_QURT_Main.h b/libraries/AP_HAL_QURT/AP_HAL_QURT_Main.h
@@ -13,3 +13,6 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 #pragma once
+
+#define AP_MAIN qurt_arducopter_main
+
diff --git a/libraries/AP_HAL_QURT/HAL_QURT_Class.cpp b/libraries/AP_HAL_QURT/HAL_QURT_Class.cpp
@@ -86,12 +86,13 @@ void HAL_QURT::run(int argc, char* const argv[], Callbacks* callbacks) const
     schedulerInstance.hal_initialized();
     serial0Driver.begin(115200);
     rcinDriver.init();
-    callbacks->setup();
-    scheduler->set_system_initialized();
-
-    for (;;) {
-        callbacks->loop();
-    }
+	// Runs okay up to here. Next line causes a crash!
+    // callbacks->setup();
+    // scheduler->set_system_initialized();
+	// 
+    // for (;;) {
+    //     callbacks->loop();
+    // }
 }
 
 const AP_HAL::HAL& AP_HAL::get_HAL() {

diff --git a/libraries/AP_HAL_QURT/replace.cpp b/libraries/AP_HAL_QURT/replace.cpp
@@ -133,9 +133,15 @@ int ArduPilot_main(int argc, const char *argv[])
 
 }
 
+extern "C" int qurt_arducopter_main(int argc, char* const argv[]);
+
 int px4muorb_orb_initialize(fc_func_ptrs *func_ptrs, int32_t clock_offset_us)
 {
-       return 0;
+	HAP_PRINTF("About to call qurt_arducopter_main %p", &qurt_arducopter_main);
+
+	qurt_arducopter_main(0, NULL);
+
+    return 0;
 }
 
 int px4muorb_topic_advertised(const char *name)
@@ -162,3 +168,34 @@ float px4muorb_get_cpu_load(void)
 {
        return 0.0f;
 }
+
+extern "C" void free(void *ptr) {
+       return;
+}
+
+// malloc
+extern "C" void *malloc(size_t size) {
+       return NULL;
+}
+
+// posix_memalign
+extern "C" int posix_memalign(void **memptr, size_t alignment, size_t size) {
+       return 0;
+}
+
+// calloc
+extern "C" void *calloc(size_t nmemb, size_t size) {
+       return NULL;
+}
+
+
+// realloc
+extern "C" void *realloc(void *ptr, size_t size) {
+       return NULL;
+}
+
+// nanosleep
+#include <time.h>
+extern "C" int nanosleep(const struct timespec *req, struct timespec *_Nullable rem) {
+       return 0;
+}