From 6ce0b7b753eb75fda226d0bb9823705dd1467f23 Mon Sep 17 00:00:00 2001
From: Mark Charlebois <charlebm@gmail.com>
Date: Fri, 17 Apr 2015 18:38:30 -0700
Subject: [PATCH] QuRT: added missing make pieces

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
---
 Makefile                   |   3 ++
 Tools/qurt_apps.py         | 105 +++++++++++++++++++++++++++++++++++++
 makefiles/firmware_qurt.mk |   9 +++-
 3 files changed, 116 insertions(+), 1 deletion(-)
 create mode 100755 Tools/qurt_apps.py

diff --git a/Makefile b/Makefile
index 4c009af00d..a079e4fc47 100644
--- a/Makefile
+++ b/Makefile
@@ -103,6 +103,9 @@ endif
 ifeq ($(PX4_TARGET_OS),linux)
 include $(PX4_BASE)makefiles/firmware_linux.mk
 endif
+ifeq ($(PX4_TARGET_OS),qurt)
+include $(PX4_BASE)makefiles/firmware_qurt.mk
+endif
 
 MSG_DIR = $(PX4_BASE)msg
 UORB_TEMPLATE_DIR = $(PX4_BASE)msg/templates/uorb
diff --git a/Tools/qurt_apps.py b/Tools/qurt_apps.py
new file mode 100755
index 0000000000..ef2972de3d
--- /dev/null
+++ b/Tools/qurt_apps.py
@@ -0,0 +1,105 @@
+#!/usr/bin/env python
+############################################################################
+#
+#   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.
+#
+############################################################################
+
+import glob
+#builtins = glob.glob("../Build/linux_default.build/builtin_commands/COMMAND*")
+builtins = glob.glob("builtin_commands/COMMAND*")
+
+apps = []
+for f in builtins:
+	apps.append(f.split(".")[-1].split("_main")[0])
+
+print
+print """
+#include <string>
+#include <map>
+
+#define __EXPORT 
+
+#include <px4_tasks.h>
+#include <px4_posix.h>
+
+using namespace std;
+
+extern void px4_show_devices(void);
+
+extern "C" {
+"""
+for app in apps:
+	print "extern int "+app+"_main(int argc, char *argv[]);"
+
+print """
+static int shutdown_main(int argc, char *argv[]);
+static int list_tasks_main(int argc, char *argv[]);
+}
+
+
+static map<string,px4_main_t> app_map(void);
+
+static map<string,px4_main_t> app_map(void)
+{
+	map<string,px4_main_t> apps;
+"""
+for app in apps:
+	print '\tapps["'+app+'"] = '+app+'_main;'
+
+print '\tapps["shutdown"] = shutdown_main;'
+print '\tapps["list_tasks"] = list_tasks_main;'
+print """
+	return apps;
+}
+
+map<string,px4_main_t> apps = app_map();
+
+static void list_builtins(void)
+{
+	cout << "Builtin Commands:" << endl;
+	for (map<string,px4_main_t>::iterator it=apps.begin(); it!=apps.end(); ++it)
+		cout << '\t' << it->first << endl;
+}
+
+static int shutdown_main(int argc, char *argv[])
+{
+	cout << "Shutting down" << endl;
+	exit(0);
+}
+
+static int list_tasks_main(int argc, char *argv[])
+{
+	px4_show_tasks();
+	return 0;
+}
+
+"""
+
diff --git a/makefiles/firmware_qurt.mk b/makefiles/firmware_qurt.mk
index 6acec4e733..6385517214 100644
--- a/makefiles/firmware_qurt.mk
+++ b/makefiles/firmware_qurt.mk
@@ -53,4 +53,11 @@ $(FIRMWARES): $(BUILD_DIR)%.build/firmware.a:	generateuorbtopicheaders
 		WORK_DIR=$(work_dir) \
 		$(FIRMWARE_GOAL)
 
-
+HEXAGON_TOOLS_ROOT	 = /opt/6.4.05
+#V_ARCH			 = v4
+V_ARCH			 = v5
+HEXAGON_CLANG_BIN	 = $(addsuffix /qc/bin,$(HEXAGON_TOOLS_ROOT))
+SIM     = $(HEXAGON_CLANG_BIN)/hexagon-sim
+SIMFLAGS+= -m$(V_ARCH) --timing
+sim:
+	$(SIM) $(SIMFLAGS) Build/qurt_default.build/mainapp