Linux: Added linker script support for param and added mc_att_control

Added linker script to resolve __param_start and __param_end.

Added mc_att_control to list of supported builtins.

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

8 files changed, 109 insertions, 13 deletions

diff --git a/Makefile b/Makefile
index a10e5f2b3..fbf589851 100644
--- a/Makefile
+++ b/Makefile
@@ -143,6 +143,9 @@ testbuild:
 	$(Q) (cd $(PX4_BASE) && $(MAKE) distclean && $(MAKE) archives && $(MAKE) -j8)
 	$(Q) (zip -r Firmware.zip $(PX4_BASE)/Images)
 
+testrun:
+	Tools/linux_run.sh
+
 #
 # Unittest targets. Builds and runs the host-level
 # unit tests.
diff --git a/Tools/linux_run.sh b/Tools/linux_run.sh
new file mode 100755
index 000000000..4572a4e3e
--- /dev/null
+++ b/Tools/linux_run.sh
@@ -0,0 +1,17 @@
+#!/bin/bash
+
+if [ ! -c /tmp/ttyS0 ] || [ ! -c /tmp/ttyS1 ]
+	then
+	echo "Need to create /tmp/ttyS[01]"
+	echo "socat PTY,link=/tmp/ttyS0 PTY,link=/tmp/ttyS1"
+	exit 1
+fi
+
+if [ ! -d /fs/msdcard ] && [ ! -w /fs/msdcard ]
+	then
+	echo "Need to create/mount writable /fs/microsd"
+	echo "sudo mkdir -p /fs/msdcard"
+	echo "sudo chmod 777 /fs/msdcard"
+fi
+
+Build/linux_default.build/mainapp
diff --git a/linux-configs/linuxtest/scripts/ld.script b/linux-configs/linuxtest/scripts/ld.script
new file mode 100644
index 000000000..176917ff7
--- /dev/null
+++ b/linux-configs/linuxtest/scripts/ld.script
@@ -0,0 +1,61 @@
+/****************************************************************************
+ * configs/aerocore/common/ld.script
+ *
+ *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * 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 NuttX 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.
+ *
+ ****************************************************************************/
+
+/* The STM32F427 has 2048Kb of FLASH beginning at address 0x0800:0000 and
+ * 256Kb of SRAM. SRAM is split up into three blocks:
+ *
+ * 1) 112Kb of SRAM beginning at address 0x2000:0000
+ * 2)  16Kb of SRAM beginning at address 0x2001:c000
+ * 3)  64Kb of SRAM beginning at address 0x2002:0000
+ * 4)  64Kb of TCM SRAM beginning at address 0x1000:0000
+ *
+ * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
+ * where the code expects to begin execution by jumping to the entry point in
+ * the 0x0800:0000 address range.
+ *
+ * The first 0x4000 of flash is reserved for the bootloader.
+ */
+
+SECTIONS
+{
+	/*
+	 * Construction data for parameters.
+	 */
+	__param ALIGN(4): {
+		__param_start = .;
+		KEEP(*(__param*))
+		__param_end = .;
+	}
+}
diff --git a/makefiles/linux/config_linux_default.mk b/makefiles/linux/config_linux_default.mk
index 8ccc59fea..b766aaaf3 100644
--- a/makefiles/linux/config_linux_default.mk
+++ b/makefiles/linux/config_linux_default.mk
@@ -33,7 +33,7 @@ MODULES		+= modules/mavlink
 #
 # Vehicle Control
 #
-#MODULES		+= modules/mc_att_control
+MODULES		+= modules/mc_att_control
 
 #
 # Library modules
diff --git a/makefiles/linux_elf.mk b/makefiles/linux_elf.mk
index 18578a55c..701d731ef 100644
--- a/makefiles/linux_elf.mk
+++ b/makefiles/linux_elf.mk
@@ -41,6 +41,7 @@
 # What we're going to build.
 #
 PRODUCT_SHARED_LIB	= $(WORK_DIR)firmware.a
+PRODUCT_SHARED_PRELINK	= $(WORK_DIR)firmware.o
 
 .PHONY:			firmware
 firmware:		$(PRODUCT_SHARED_LIB) $(WORK_DIR)mainapp
@@ -49,8 +50,11 @@ firmware:		$(PRODUCT_SHARED_LIB) $(WORK_DIR)mainapp
 # Built product rules
 #
 
-$(PRODUCT_SHARED_LIB):		$(OBJS) $(MODULE_OBJS) $(LIBRARY_LIBS) $(GLOBAL_DEPS) $(LINK_DEPS) $(MODULE_MKFILES)
-	$(call LINK_A,$@,$(OBJS) $(MODULE_OBJS) $(LIBRARY_LIBS))
+$(PRODUCT_SHARED_PRELINK):	$(OBJS) $(MODULE_OBJS) $(LIBRARY_LIBS) $(GLOBAL_DEPS) $(LINK_DEPS) $(MODULE_MKFILES)
+	$(call PRELINKF,$@,$(OBJS) $(MODULE_OBJS) $(LIBRARY_LIBS))
+
+$(PRODUCT_SHARED_LIB):		$(PRODUCT_SHARED_PRELINK)
+	$(call LINK_A,$@,$(PRODUCT_SHARED_PRELINK))
 
 MAIN = $(PX4_BASE)/src/platforms/linux/main.cpp
 $(WORK_DIR)mainapp: $(PRODUCT_SHARED_LIB)
diff --git a/makefiles/toolchain_native.mk b/makefiles/toolchain_native.mk
index d983fd24e..5d0844cca 100644
--- a/makefiles/toolchain_native.mk
+++ b/makefiles/toolchain_native.mk
@@ -193,7 +193,7 @@ ARCHWARNINGSXX		 = $(ARCHWARNINGS) \
 # pull in *just* libm from the toolchain ... this is grody
 LIBM			:= $(shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a)
 #EXTRA_LIBS		+= $(LIBM) 
-EXTRA_LIBS		+= -pthread -lm -lrt
+EXTRA_LIBS		+= -lm -lrt
 
 # Flags we pass to the C compiler
 #
@@ -237,6 +237,7 @@ AFLAGS			 = $(CFLAGS) -D__ASSEMBLY__ \
 			   $(EXTRADEFINES) \
 			   $(EXTRAAFLAGS)
 
+LDSCRIPT		 = $(PX4_BASE)/linux-configs/linuxtest/scripts/ld.script
 # Flags we pass to the linker
 #
 LDFLAGS			+= $(EXTRALDFLAGS) \
@@ -291,6 +292,15 @@ define PRELINK
 	$(Q) $(LD) -Ur -o $1 $2
 
 endef
+# Produce partially-linked $1 from files in $2
+#
+#$(Q) $(LD) -Ur -o $1 $2 # -Ur not supported in ld.gold
+define PRELINKF
+	@$(ECHO) "PRELINK: $1"
+	@$(MKDIR) -p $(dir $1)
+	$(Q) $(LD) -Ur -T$(LDSCRIPT) -o $1 $2
+
+endef
 #	$(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
 
 # Update the archive $1 with the files in $2
@@ -324,7 +334,7 @@ endef
 define LINK
 	@$(ECHO) "LINK:    $1"
 	@$(MKDIR) -p $(dir $1)
-	echo "$(Q) $(CXX) $(LDFLAGS) -o $1 $2 $(LIBS) $(EXTRA_LIBS)"
 	$(Q) $(CXX) $(CXXFLAGS) $(LDFLAGS) -o $1 $2 $(LIBS) $(EXTRA_LIBS) $(LIBGCC)
+
 endef
 
diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp
index 5f5443ab1..c579ce883 100644
--- a/src/modules/mc_att_control/mc_att_control_main.cpp
+++ b/src/modules/mc_att_control/mc_att_control_main.cpp
@@ -54,6 +54,7 @@
  */
 
 #include <px4_config.h>
+#include <px4_tasks.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
@@ -404,7 +405,7 @@ MulticopterAttitudeControl::~MulticopterAttitudeControl()
 
 			/* if we have given up, kill it */
 			if (++i > 50) {
-				task_delete(_control_task);
+				px4_task_delete(_control_task);
 				break;
 			}
 		} while (_control_task != -1);
@@ -721,7 +722,7 @@ MulticopterAttitudeControl::control_attitude_rates(float dt)
 			if (fabsf(_att_control(i)) < _thrust_sp) {
 				float rate_i = _rates_int(i) + _params.rate_i(i) * rates_err(i) * dt;
 
-				if (isfinite(rate_i) && rate_i > -RATES_I_LIMIT && rate_i < RATES_I_LIMIT &&
+				if (std::isfinite(rate_i) && rate_i > -RATES_I_LIMIT && rate_i < RATES_I_LIMIT &&
 				    _att_control(i) > -RATES_I_LIMIT && _att_control(i) < RATES_I_LIMIT) {
 					_rates_int(i) = rate_i;
 				}
@@ -858,10 +859,10 @@ MulticopterAttitudeControl::task_main()
 				control_attitude_rates(dt);
 
 				/* publish actuator controls */
-				_actuators.control[0] = (isfinite(_att_control(0))) ? _att_control(0) : 0.0f;
-				_actuators.control[1] = (isfinite(_att_control(1))) ? _att_control(1) : 0.0f;
-				_actuators.control[2] = (isfinite(_att_control(2))) ? _att_control(2) : 0.0f;
-				_actuators.control[3] = (isfinite(_thrust_sp)) ? _thrust_sp : 0.0f;
+				_actuators.control[0] = (std::isfinite(_att_control(0))) ? _att_control(0) : 0.0f;
+				_actuators.control[1] = (std::isfinite(_att_control(1))) ? _att_control(1) : 0.0f;
+				_actuators.control[2] = (std::isfinite(_att_control(2))) ? _att_control(2) : 0.0f;
+				_actuators.control[3] = (std::isfinite(_thrust_sp)) ? _thrust_sp : 0.0f;
 				_actuators.timestamp = hrt_absolute_time();
 				_actuators.timestamp_sample = _v_att.timestamp;
 
@@ -909,7 +910,7 @@ MulticopterAttitudeControl::start()
 				       SCHED_DEFAULT,
 				       SCHED_PRIORITY_MAX - 5,
 				       1600,
-				       (main_t)&MulticopterAttitudeControl::task_main_trampoline,
+				       (px4_main_t)&MulticopterAttitudeControl::task_main_trampoline,
 				       nullptr);
 
 	if (_control_task < 0) {
diff --git a/src/modules/systemlib/param/param.c b/src/modules/systemlib/param/param.c
index 8cc1e6e27..e42109da4 100644
--- a/src/modules/systemlib/param/param.c
+++ b/src/modules/systemlib/param/param.c
@@ -71,7 +71,7 @@
 /**
  * Array of static parameter info.
  */
-#if defined(_UNIT_TEST) || defined(__PX4_LINUX)
+#if defined(_UNIT_TEST)
 	extern struct param_info_s	param_array[];
 	extern struct param_info_s	*param_info_base;
 	extern struct param_info_s	*param_info_limit;