Added overridden new and delete for QURT HAL

ArduCopter/system.cpp

@@ -13,114 +13,186 @@ static void failsafe_check_static()
     copter.failsafe_check();
 }
 
+#include <qurt.h>
+// #define GOT_HERE() do { DEV_PRINTF("got to %s:%d\n", __FILE__, __LINE__); qurt_timer_sleep(5000); } while(false);
+#define GOT_HERE() do {} while(0)
+
+
 void Copter::init_ardupilot()
 {
+    GOT_HERE();
+
     // init winch
 #if AP_WINCH_ENABLED
     g2.winch.init();
 #endif
 
+    GOT_HERE();
+
     // initialise notify system
     notify.init();
+
+    GOT_HERE();
+
     notify_flight_mode();
 
+    GOT_HERE();
+
     // initialise battery monitor
     battery.init();
 
+    GOT_HERE();
+
     // Init RSSI
     rssi.init();
-
+
+    GOT_HERE();
+
+	// Any use of barometer crashes the DSP
     barometer.init();
 
+    GOT_HERE();
+
     // setup telem slots with serial ports
     gcs().setup_uarts();
 
+GOT_HERE();
+
 #if OSD_ENABLED == ENABLED
     osd.init();
 #endif
 
+GOT_HERE();
+
     // update motor interlock state
     update_using_interlock();
 
+GOT_HERE();
+
 #if FRAME_CONFIG == HELI_FRAME
     // trad heli specific initialisation
     heli_init();
 #endif
+
+GOT_HERE();
+
 #if FRAME_CONFIG == HELI_FRAME
     input_manager.set_loop_rate(scheduler.get_loop_rate_hz());
 #endif
 
+GOT_HERE();
+
     init_rc_in();               // sets up rc channels from radio
 
+GOT_HERE();
+
     // initialise surface to be tracked in SurfaceTracking
     // must be before rc init to not override initial switch position
     surface_tracking.init((SurfaceTracking::Surface)copter.g2.surftrak_mode.get());
 
+GOT_HERE();
+
     // allocate the motors class
     allocate_motors();
 
+GOT_HERE();
+
     // initialise rc channels including setting mode
     rc().convert_options(RC_Channel::AUX_FUNC::ARMDISARM_UNUSED, RC_Channel::AUX_FUNC::ARMDISARM_AIRMODE);
+GOT_HERE();
+
     rc().init();
 
+GOT_HERE();
+
     // sets up motors and output to escs
     init_rc_out();
 
+GOT_HERE();
+
     // check if we should enter esc calibration mode
     esc_calibration_startup_check();
 
+GOT_HERE();
+
     // motors initialised so parameters can be sent
     ap.initialised_params = true;
 
 #if AP_RELAY_ENABLED
     relay.init();
 #endif
 
+GOT_HERE();
+
     /*
      *  setup the 'main loop is dead' check. Note that this relies on
      *  the RC library being initialised.
      */
     hal.scheduler->register_timer_failsafe(failsafe_check_static, 1000);
 
+GOT_HERE();
+
     // Do GPS init
     gps.set_log_gps_bit(MASK_LOG_GPS);
+GOT_HERE();
+
     gps.init();
 
+GOT_HERE();
+
     AP::compass().set_log_bit(MASK_LOG_COMPASS);
+GOT_HERE();
+
     AP::compass().init();
 
 #if AP_AIRSPEED_ENABLED
+GOT_HERE();
+
     airspeed.set_log_bit(MASK_LOG_IMU);
 #endif
 
 #if AP_OAPATHPLANNER_ENABLED
+GOT_HERE();
+
     g2.oa.init();
 #endif
 
+GOT_HERE();
+
     attitude_control->parameter_sanity_check();
 
 #if AP_OPTICALFLOW_ENABLED
     // initialise optical flow sensor
+GOT_HERE();
+
     optflow.init(MASK_LOG_OPTFLOW);
 #endif      // AP_OPTICALFLOW_ENABLED
 
 #if HAL_MOUNT_ENABLED
     // initialise camera mount
+GOT_HERE();
+
     camera_mount.init();
 #endif
 
 #if AP_CAMERA_ENABLED
     // initialise camera
+GOT_HERE();
+
     camera.init();
 #endif
 
 #if AC_PRECLAND_ENABLED
     // initialise precision landing
+GOT_HERE();
+
     init_precland();
 #endif
 
 #if AP_LANDINGGEAR_ENABLED
     // initialise landing gear position
+GOT_HERE();
+
     landinggear.init();
 #endif
 
@@ -130,67 +202,95 @@ void Copter::init_ardupilot()
 
     // read Baro pressure at ground
     //-----------------------------
+GOT_HERE();
+
+	// Any use of barometer crashes the DSP
     barometer.set_log_baro_bit(MASK_LOG_IMU);
     barometer.calibrate();
 
 #if RANGEFINDER_ENABLED == ENABLED
     // initialise rangefinder
+GOT_HERE();
+
     init_rangefinder();
 #endif
 
 #if HAL_PROXIMITY_ENABLED
     // init proximity sensor
+GOT_HERE();
+
     g2.proximity.init();
 #endif
 
 #if AP_BEACON_ENABLED
     // init beacons used for non-gps position estimation
+GOT_HERE();
+
     g2.beacon.init();
 #endif
 
 #if AP_RPM_ENABLED
+GOT_HERE();
+
     // initialise AP_RPM library
     rpm_sensor.init();
 #endif
 
 #if MODE_AUTO_ENABLED == ENABLED
+GOT_HERE();
+
     // initialise mission library
     mode_auto.mission.init();
 #endif
 
 #if MODE_SMARTRTL_ENABLED == ENABLED
+GOT_HERE();
+
     // initialize SmartRTL
     g2.smart_rtl.init();
 #endif
 
 #if HAL_LOGGING_ENABLED
+GOT_HERE();
+
     // initialise AP_Logger library
     logger.setVehicle_Startup_Writer(FUNCTOR_BIND(&copter, &Copter::Log_Write_Vehicle_Startup_Messages, void));
 #endif
 
+    GOT_HERE();
+
     startup_INS_ground();
 
 #if AC_CUSTOMCONTROL_MULTI_ENABLED == ENABLED
+    GOT_HERE();
+
     custom_control.init();
 #endif
 
     // set landed flags
     set_land_complete(true);
+GOT_HERE();
+
     set_land_complete_maybe(true);
+GOT_HERE();
 
     // enable CPU failsafe
     failsafe_enable();
+GOT_HERE();
 
     ins.set_log_raw_bit(MASK_LOG_IMU_RAW);
+GOT_HERE();
 
     motors->output_min();  // output lowest possible value to motors
 
     // attempt to set the initial_mode, else set to STABILIZE
+GOT_HERE();
     if (!set_mode((enum Mode::Number)g.initial_mode.get(), ModeReason::INITIALISED)) {
         // set mode to STABILIZE will trigger mode change notification to pilot
         set_mode(Mode::Number::STABILIZE, ModeReason::UNAVAILABLE);
     }
 
+GOT_HERE();
     pos_variance_filt.set_cutoff_frequency(g2.fs_ekf_filt_hz);
     vel_variance_filt.set_cutoff_frequency(g2.fs_ekf_filt_hz);
     hgt_variance_filt.set_cutoff_frequency(g2.fs_ekf_filt_hz);
@@ -209,11 +309,16 @@ void Copter::startup_INS_ground()
     ahrs.init();
     ahrs.set_vehicle_class(AP_AHRS::VehicleClass::COPTER);
 
+    GOT_HERE();
+
     // Warm up and calibrate gyro offsets
     ins.init(scheduler.get_loop_rate_hz());
 
+    GOT_HERE();
+
     // reset ahrs including gyro bias
     ahrs.reset();
+    GOT_HERE();
 }
 
 // position_ok - returns true if the horizontal absolute position is ok and home position is set

Tools/ardupilotwaf/ardupilotwaf.py

@@ -16,6 +16,13 @@
     '*.cpp',
 ]
 
+COMMON_VEHICLE_DEPENDENT_CAN_LIBRARIES = [
+    'AP_CANManager',
+    'AP_KDECAN',
+    'AP_PiccoloCAN',
+    'AP_PiccoloCAN/piccolo_protocol',
+]
+
 COMMON_VEHICLE_DEPENDENT_LIBRARIES = [
     'AP_Airspeed',
     'AP_AccelCal',
@@ -26,15 +33,13 @@
     'AP_BattMonitor',
     'AP_BoardConfig',
     'AP_Camera',
-    'AP_CANManager',
     'AP_Common',
     'AP_Compass',
     'AP_Declination',
     'AP_GPS',
     'AP_HAL',
     'AP_HAL_Empty',
     'AP_InertialSensor',
-    'AP_KDECAN',
     'AP_Math',
     'AP_Mission',
     'AP_DAL',
@@ -73,8 +78,6 @@
     'AP_SBusOut',
     'AP_IOMCU',
     'AP_Parachute',
-    'AP_PiccoloCAN',
-    'AP_PiccoloCAN/piccolo_protocol',
     'AP_RAMTRON',
     'AP_RCProtocol',
     'AP_Radio',
@@ -248,11 +251,8 @@ def ap_get_all_libraries(bld):
 def ap_common_vehicle_libraries(bld):
     libraries = COMMON_VEHICLE_DEPENDENT_LIBRARIES
 
-    if bld.env.DEST_BINFMT == 'pe':
-        libraries += [
-            'AC_Fence',
-            'AC_AttitudeControl',
-        ]
+    if bld.env.with_can:
+        libraries.extend(COMMON_VEHICLE_DEPENDENT_CAN_LIBRARIES)
 
     return libraries