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move posix, nuttx, qurt components into platforms

This commit is contained in:
Daniel Agar 2018-01-15 15:34:18 -05:00 committed by Lorenz Meier
parent a644ed90dd
commit 2ff81393bc
115 changed files with 251 additions and 306 deletions
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2
CMakeLists.txt
View File

@ -397,6 +397,8 @@ endif()
#============================================================================= #=============================================================================
# subdirectories # subdirectories
# #
add_subdirectory(src/platforms/common)
foreach(module ${config_module_list}) foreach(module ${config_module_list})
add_subdirectory(src/${module}) add_subdirectory(src/${module})
endforeach() endforeach()

6
Tools/astyle/files_to_check_code_style.sh
View File

@ -8,9 +8,9 @@ then
PATTERN="$1" PATTERN="$1"
fi fi
exec find src \ exec find src platforms \
-path src/examples/attitude_estimator_ekf -prune -o \ -path platforms/nuttx/NuttX -prune -o \
-path src/examples/ekf_att_pos_estimator -prune -o \ -path platforms/nuttx/nuttx-configs -prune -o \
-path src/lib/DriverFramework -prune -o \ -path src/lib/DriverFramework -prune -o \
-path src/lib/ecl -prune -o \ -path src/lib/ecl -prune -o \
-path src/lib/matrix -prune -o \ -path src/lib/matrix -prune -o \

5
cmake/configs/nuttx_aerocore2_default.cmake
View File

@ -126,11 +126,6 @@ set(config_module_list
lib/terrain_estimation lib/terrain_estimation
lib/tunes lib/tunes
lib/version lib/version
platforms/nuttx
# had to add for cmake, not sure why wasn't in original config
platforms/common
platforms/nuttx/px4_layer
# #
# OBC challenge # OBC challenge

3
cmake/configs/nuttx_aerofc-v1_default.cmake
View File

@ -87,7 +87,4 @@ set(config_module_list
lib/rc lib/rc
lib/tailsitter_recovery lib/tailsitter_recovery
lib/version lib/version
platforms/common
platforms/nuttx
platforms/nuttx/px4_layer
) )

5
cmake/configs/nuttx_auav-x21_default.cmake
View File

@ -137,11 +137,6 @@ set(config_module_list
lib/terrain_estimation lib/terrain_estimation
lib/tunes lib/tunes
lib/version lib/version
platforms/nuttx
# had to add for cmake, not sure why wasn't in original config
platforms/common
platforms/nuttx/px4_layer
# #
# OBC challenge # OBC challenge

5
cmake/configs/nuttx_crazyflie_default.cmake
View File

@ -93,11 +93,6 @@ set(config_module_list
lib/tailsitter_recovery lib/tailsitter_recovery
lib/terrain_estimation lib/terrain_estimation
lib/version lib/version
platforms/nuttx
# had to add for cmake, not sure why wasn't in original config
platforms/common
platforms/nuttx/px4_layer
# #
# OBC challenge # OBC challenge

3
cmake/configs/nuttx_esc35-v1_default.cmake
View File

@ -71,7 +71,4 @@ set(config_module_list
modules/systemlib modules/systemlib
modules/systemlib/param modules/systemlib/param
modules/uORB modules/uORB
platforms/common
platforms/nuttx
platforms/nuttx/px4_layer
) )

5
cmake/configs/nuttx_mindpx-v2_default.cmake
View File

@ -141,11 +141,6 @@ set(config_module_list
lib/terrain_estimation lib/terrain_estimation
lib/tunes lib/tunes
lib/version lib/version
platforms/nuttx
# had to add for cmake, not sure why wasn't in original config
platforms/common
platforms/nuttx/px4_layer
# #
# OBC challenge # OBC challenge

7
cmake/configs/nuttx_nxphlite-v3_default.cmake
View File

@ -150,13 +150,6 @@ set(config_module_list
lib/version lib/version
lib/DriverFramework/framework lib/DriverFramework/framework
#
# Platform
#
platforms/common
platforms/nuttx
platforms/nuttx/px4_layer
# #
# OBC challenge # OBC challenge
# #

5
cmake/configs/nuttx_px4-same70xplained-v1_default.cmake
View File

@ -119,11 +119,6 @@ set(config_module_list
lib/tailsitter_recovery lib/tailsitter_recovery
lib/terrain_estimation lib/terrain_estimation
lib/version lib/version
platforms/nuttx
# had to add for cmake, not sure why wasn't in original config
platforms/common
platforms/nuttx/px4_layer
# #
# OBC challenge # OBC challenge

5
cmake/configs/nuttx_px4-stm32f4discovery_default.cmake
View File

@ -43,11 +43,6 @@ set(config_module_list
lib/mathlib/math/filter lib/mathlib/math/filter
lib/mixer lib/mixer
lib/version lib/version
platforms/nuttx
# had to add for cmake, not sure why wasn't in original config
platforms/common
platforms/nuttx/px4_layer
# #
# Demo apps # Demo apps

4
cmake/configs/nuttx_px4cannode-v1_default.cmake
View File

@ -63,7 +63,5 @@ set(config_module_list
modules/systemlib modules/systemlib
modules/systemlib/param modules/systemlib/param
modules/uORB modules/uORB
platforms/common
platforms/nuttx
platforms/nuttx/px4_layer
) )

4
cmake/configs/nuttx_px4esc-v1_default.cmake
View File

@ -72,7 +72,5 @@ set(config_module_list
modules/systemlib modules/systemlib
modules/systemlib/param modules/systemlib/param
modules/uORB modules/uORB
platforms/common
platforms/nuttx
platforms/nuttx/px4_layer
) )

7
cmake/configs/nuttx_px4fmu-v2_default.cmake
View File

@ -154,13 +154,6 @@ set(config_module_list
lib/tunes lib/tunes
lib/version lib/version
#
# Platform
#
platforms/common
platforms/nuttx
platforms/nuttx/px4_layer
# #
# OBC challenge # OBC challenge
# #

5
cmake/configs/nuttx_px4fmu-v2_test.cmake
View File

@ -138,11 +138,6 @@ set(config_module_list
lib/terrain_estimation lib/terrain_estimation
lib/tunes lib/tunes
lib/version lib/version
platforms/nuttx
# had to add for cmake, not sure why wasn't in original config
platforms/common
platforms/nuttx/px4_layer
# #
# OBC challenge # OBC challenge

7
cmake/configs/nuttx_px4fmu-v3_default.cmake
View File

@ -155,13 +155,6 @@ set(config_module_list
lib/tunes lib/tunes
lib/version lib/version
#
# Platform
#
platforms/common
platforms/nuttx
platforms/nuttx/px4_layer
# #
# OBC challenge # OBC challenge
# #

7
cmake/configs/nuttx_px4fmu-v4_default.cmake
View File

@ -148,13 +148,6 @@ set(config_module_list
lib/tunes lib/tunes
lib/version lib/version
#
# Platform
#
platforms/common
platforms/nuttx
platforms/nuttx/px4_layer
# #
# OBC challenge # OBC challenge
# #

7
cmake/configs/nuttx_px4fmu-v4pro_default.cmake
View File

@ -147,13 +147,6 @@ set(config_module_list
lib/tunes lib/tunes
lib/version lib/version
#
# Platform
#
platforms/common
platforms/nuttx
platforms/nuttx/px4_layer
# #
# OBC challenge # OBC challenge
# #

7
cmake/configs/nuttx_px4fmu-v5_default.cmake
View File

@ -149,13 +149,6 @@ set(config_module_list
lib/tunes lib/tunes
lib/version lib/version
#
# Platform
#
platforms/common
platforms/nuttx
platforms/nuttx/px4_layer
# #
# OBC challenge # OBC challenge
# #

1
cmake/configs/nuttx_px4io-v2_default.cmake
View File

@ -7,5 +7,4 @@ set(config_module_list
lib/mixer lib/mixer
lib/rc lib/rc
modules/px4iofirmware modules/px4iofirmware
platforms/common
) )

5
cmake/configs/nuttx_px4nucleoF767ZI-v1_default.cmake
View File

@ -126,11 +126,6 @@ set(config_module_list
lib/terrain_estimation lib/terrain_estimation
lib/tunes lib/tunes
lib/version lib/version
platforms/nuttx
# had to add for cmake, not sure why wasn't in original config
platforms/common
platforms/nuttx/px4_layer
# #
# OBC challenge # OBC challenge

8
cmake/configs/nuttx_s2740vc-v1_default.cmake
View File

@ -60,12 +60,4 @@ set(config_module_list
modules/systemlib/param modules/systemlib/param
modules/systemlib modules/systemlib
lib/version lib/version
#
# Libraries
#
# had to add for cmake, not sure why wasn't in original config
platforms/nuttx
platforms/common
platforms/nuttx/px4_layer
) )

5
cmake/configs/nuttx_tap-v1_default.cmake
View File

@ -102,9 +102,4 @@ set(config_module_list
lib/terrain_estimation lib/terrain_estimation
lib/tunes lib/tunes
lib/version lib/version
platforms/nuttx
# had to add for cmake, not sure why wasn't in original config
platforms/common
platforms/nuttx/px4_layer
) )

7
cmake/configs/posix_bebop_default.cmake
View File

@ -85,13 +85,6 @@ set(config_module_list
lib/tailsitter_recovery lib/tailsitter_recovery
lib/terrain_estimation lib/terrain_estimation
lib/version lib/version
#
# POSIX
#
platforms/common
platforms/posix/px4_layer
platforms/posix/work_queue
) )
set(config_df_driver_list set(config_df_driver_list

3
cmake/configs/posix_eagle_hil.cmake
View File

@ -48,9 +48,6 @@ set(config_module_list
lib/version lib/version
lib/DriverFramework/framework lib/DriverFramework/framework
platforms/common
platforms/posix/px4_layer
platforms/posix/work_queue
modules/muorb/krait modules/muorb/krait
) )

3
cmake/configs/posix_eagle_muorb.cmake
View File

@ -19,9 +19,6 @@ set(config_module_list
lib/DriverFramework/framework lib/DriverFramework/framework
platforms/posix/px4_layer
platforms/posix/work_queue
modules/muorb/krait modules/muorb/krait
) )

7
cmake/configs/posix_ocpoc_cross.cmake
View File

@ -95,13 +95,6 @@ set(config_module_list
lib/tailsitter_recovery lib/tailsitter_recovery
lib/terrain_estimation lib/terrain_estimation
lib/version lib/version
#
# POSIX
#
platforms/common
platforms/posix/px4_layer
platforms/posix/work_queue
examples/px4_simple_app examples/px4_simple_app
) )

7
cmake/configs/posix_ocpoc_ubuntu.cmake
View File

@ -94,13 +94,6 @@ set(config_module_list
lib/tailsitter_recovery lib/tailsitter_recovery
lib/terrain_estimation lib/terrain_estimation
lib/version lib/version
#
# POSIX
#
platforms/common
platforms/posix/px4_layer
platforms/posix/work_queue
examples/px4_simple_app examples/px4_simple_app
) )

7
cmake/configs/posix_rpi_common.cmake
View File

@ -107,13 +107,6 @@ set(config_module_list
lib/terrain_estimation lib/terrain_estimation
lib/tunes lib/tunes
lib/version lib/version
#
# POSIX
#
platforms/common
platforms/posix/px4_layer
platforms/posix/work_queue
) )
# #

6
cmake/configs/posix_sdflight_default.cmake
View File

@ -83,8 +83,4 @@ set(config_module_list
lib/terrain_estimation lib/terrain_estimation
lib/tunes lib/tunes
lib/version lib/version
)
platforms/common
platforms/posix/px4_layer
platforms/posix/work_queue
)

4
cmake/configs/posix_sdflight_legacy.cmake
View File

@ -75,8 +75,4 @@ set(config_module_list
lib/terrain_estimation lib/terrain_estimation
lib/tunes lib/tunes
lib/version lib/version
platforms/common
platforms/posix/px4_layer
platforms/posix/work_queue
) )

8
cmake/configs/posix_sitl_default.cmake
View File

@ -64,7 +64,6 @@ set(config_module_list
platforms/posix/tests/hrt_test platforms/posix/tests/hrt_test
platforms/posix/tests/muorb platforms/posix/tests/muorb
platforms/posix/tests/vcdev_test platforms/posix/tests/vcdev_test
platforms/posix/tests/wqueue
# #
# General system control # General system control
@ -135,13 +134,6 @@ set(config_module_list
lib/tunes lib/tunes
lib/version lib/version
#
# Platform
#
platforms/common
platforms/posix/px4_layer
platforms/posix/work_queue
# #
# OBC challenge # OBC challenge
# #

3
cmake/configs/posix_sitl_replay.cmake
View File

@ -4,9 +4,6 @@ set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cma
set(config_module_list set(config_module_list
drivers/device drivers/device
drivers/boards/sitl drivers/boards/sitl
platforms/common
platforms/posix/px4_layer
platforms/posix/work_queue
systemcmds/param systemcmds/param
systemcmds/ver systemcmds/ver
systemcmds/perf systemcmds/perf

8
cmake/configs/qurt_eagle_hello.cmake
View File

@ -33,13 +33,5 @@ set(config_module_list
modules/systemlib/param modules/systemlib/param
modules/systemlib modules/systemlib
modules/uORB modules/uORB
#
# QuRT port
#
platforms/common
platforms/qurt/px4_layer
platforms/posix/work_queue
platforms/qurt/tests/hello
) )

7
cmake/configs/qurt_eagle_hil.cmake
View File

@ -73,13 +73,6 @@ set(config_module_list
lib/terrain_estimation lib/terrain_estimation
lib/version lib/version
#
# QuRT port
#
platforms/common
platforms/qurt/px4_layer
platforms/posix/work_queue
# #
# sources for muorb over fastrpc # sources for muorb over fastrpc
# #

8
cmake/configs/qurt_eagle_muorb.cmake
View File

@ -45,14 +45,6 @@ set(config_module_list
lib/version lib/version
lib/DriverFramework/framework lib/DriverFramework/framework
#
# QuRT port
#
platforms/common
platforms/qurt/px4_layer
platforms/posix/work_queue
platforms/qurt/tests/muorb
# #
# sources for muorb over fastrpc # sources for muorb over fastrpc
# #

11
cmake/configs/qurt_eagle_test.cmake
View File

@ -42,16 +42,5 @@ set(config_module_list
lib/mathlib lib/mathlib
lib/mathlib/math/filter lib/mathlib/math/filter
lib/mixer lib/mixer
#
# QuRT port
#
platforms/common
platforms/qurt/px4_layer
platforms/posix/work_queue
platforms/qurt/tests/hello
platforms/posix/tests/vcdev_test
platforms/posix/tests/hrt_test
platforms/posix/tests/wqueue
) )

7
cmake/configs/qurt_eagle_travis.cmake
View File

@ -79,13 +79,6 @@ set(config_module_list
lib/terrain_estimation lib/terrain_estimation
lib/version lib/version
#
# QuRT port
#
platforms/common
platforms/qurt/px4_layer
platforms/posix/work_queue
# #
# sources for muorb over fastrpc # sources for muorb over fastrpc
# #

7
cmake/configs/qurt_sdflight_default.cmake
View File

@ -97,13 +97,6 @@ set(config_module_list
lib/terrain_estimation lib/terrain_estimation
lib/version lib/version
#
# QuRT port
#
platforms/common
platforms/qurt/px4_layer
platforms/posix/work_queue
# #
# sources for muorb over fastrpc # sources for muorb over fastrpc
# #

7
cmake/configs/qurt_sdflight_legacy.cmake
View File

@ -96,13 +96,6 @@ set(config_module_list
lib/terrain_estimation lib/terrain_estimation
lib/version lib/version
#
# QuRT port
#
platforms/common
platforms/qurt/px4_layer
platforms/posix/work_queue
# #
# sources for muorb over fastrpc # sources for muorb over fastrpc
# #

35
platforms/nuttx/CMakeLists.txt
View File

@ -1,6 +1,41 @@
############################################################################
#
# Copyright (c) 2017 PX4 Development Team. 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(common/px4_upload) include(common/px4_upload)
include(cygwin_cygpath) include(cygwin_cygpath)
add_subdirectory(src)
if (NOT FW_NAME) if (NOT FW_NAME)
set(FW_NAME ${CONFIG}.elf) set(FW_NAME ${CONFIG}.elf)
endif() endif()

12
platforms/nuttx/cmake/px4_impl_os.cmake
View File

@ -175,13 +175,17 @@ function(px4_os_add_flags)
LINK_DIRS ${LINK_DIRS} LINK_DIRS ${LINK_DIRS}
DEFINITIONS ${DEFINITIONS}) DEFINITIONS ${DEFINITIONS})
set(added_include_dirs include_directories(BEFORE SYSTEM
${PX4_BINARY_DIR}/NuttX/nuttx/include
${PX4_BINARY_DIR}/NuttX/nuttx/include/cxx
)
include_directories(
${PX4_BINARY_DIR}/NuttX/nuttx/arch/arm/src/armv7-m ${PX4_BINARY_DIR}/NuttX/nuttx/arch/arm/src/armv7-m
${PX4_BINARY_DIR}/NuttX/nuttx/arch/arm/src/chip ${PX4_BINARY_DIR}/NuttX/nuttx/arch/arm/src/chip
${PX4_BINARY_DIR}/NuttX/nuttx/arch/arm/src/common ${PX4_BINARY_DIR}/NuttX/nuttx/arch/arm/src/common
${PX4_BINARY_DIR}/NuttX/nuttx/include
${PX4_BINARY_DIR}/NuttX/nuttx/include/cxx ${PX4_BINARY_DIR}/NuttX/apps/include
${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/apps/include
) )
#set(added_exe_linker_flags) #set(added_exe_linker_flags)

14
src/platforms/nuttx/px4_layer/CMakeLists.txt → platforms/nuttx/src/CMakeLists.txt
View File

@ -1,6 +1,6 @@
############################################################################ ############################################################################
# #
# Copyright (c) 2015 PX4 Development Team. All rights reserved. # Copyright (c) 2017 PX4 Development Team. All rights reserved.
# #
# Redistribution and use in source and binary forms, with or without # Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions # modification, are permitted provided that the following conditions
@ -30,13 +30,5 @@
# POSSIBILITY OF SUCH DAMAGE. # POSSIBILITY OF SUCH DAMAGE.
# #
############################################################################ ############################################################################
px4_add_module(
MODULE platforms__nuttx__px4_layer add_subdirectory(px4_layer)
COMPILE_FLAGS
SRCS
px4_nuttx_tasks.c
../../posix/px4_layer/px4_log.c
DEPENDS
platforms__common
)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :

22
src/platforms/nuttx/CMakeLists.txt → platforms/nuttx/src/px4_layer/CMakeLists.txt
View File

@ -30,12 +30,16 @@
# POSSIBILITY OF SUCH DAMAGE. # POSSIBILITY OF SUCH DAMAGE.
# #
############################################################################ ############################################################################
px4_add_module(
MODULE platforms__nuttx # skip for px4_layer support on an IO board
COMPILE_FLAGS if (NOT ${BOARD} MATCHES "px4io")
SRCS
px4_nuttx_impl.cpp px4_add_module(
DEPENDS MODULE platform_px4_layer
platforms__common SRCS
) px4_nuttx_tasks.c
# vim: set noet ft=cmake fenc=utf-8 ff=unix : px4_nuttx_impl.cpp
DEPENDS
prebuild_targets
)
endif()

1
src/platforms/nuttx/px4_nuttx_impl.cpp → platforms/nuttx/src/px4_layer/px4_nuttx_impl.cpp
View File

@ -41,7 +41,6 @@
#include <px4_middleware.h> #include <px4_middleware.h>
#include <drivers/drv_hrt.h> #include <drivers/drv_hrt.h>
namespace px4 namespace px4
{ {

25
src/platforms/nuttx/px4_layer/px4_nuttx_tasks.c → platforms/nuttx/src/px4_layer/px4_nuttx_tasks.c
View File

@ -37,24 +37,22 @@
* Implementation of existing task API for NuttX * Implementation of existing task API for NuttX
*/ */
#include <px4_config.h> #include <nuttx/config.h>
#include <px4_tasks.h>
#include <unistd.h> #include <sys/wait.h>
#include <stdbool.h>
#include <stdio.h> #include <stdio.h>
#include <fcntl.h> #include <stdlib.h>
#include <sched.h>
#include <signal.h>
#include <unistd.h> #include <unistd.h>
#include <float.h> #include <signal.h>
#include <string.h> #include <string.h>
#include <sched.h>
#include <errno.h>
#include <stdbool.h>
#include <sys/stat.h> #include <px4_config.h>
#include <sys/types.h>
#include <px4_log.h> #include <px4_log.h>
#include <systemlib/systemlib.h> #include <px4_tasks.h>
void void
px4_systemreset(bool to_bootloader) px4_systemreset(bool to_bootloader)
@ -115,4 +113,3 @@ const char *px4_get_taskname(void)
return "app"; return "app";
#endif #endif
} }

4
platforms/posix/CMakeLists.txt
View File

@ -1,5 +1,7 @@
include (common/px4_upload) include (common/px4_upload)
add_subdirectory(src)
include_directories(${CMAKE_CURRENT_BINARY_DIR}) include_directories(${CMAKE_CURRENT_BINARY_DIR})
get_property(module_libraries GLOBAL PROPERTY PX4_LIBRARIES) get_property(module_libraries GLOBAL PROPERTY PX4_LIBRARIES)
@ -10,7 +12,7 @@ px4_posix_generate_builtin_commands(
# Define build target # Define build target
set(APP_NAME px4) set(APP_NAME px4)
set(MAIN_SRC ${PX4_SOURCE_DIR}/src/platforms/posix/main.cpp) set(MAIN_SRC src/main.cpp)
set(UPLOAD_NAME upload) set(UPLOAD_NAME upload)
if ("${BOARD}" STREQUAL "eagle" OR ("${BOARD}" STREQUAL "excelsior")) if ("${BOARD}" STREQUAL "eagle" OR ("${BOARD}" STREQUAL "excelsior"))

4
platforms/posix/cmake/px4_impl_os.cmake
View File

@ -165,9 +165,7 @@ function(px4_os_add_flags)
DEFINITIONS ${DEFINITIONS}) DEFINITIONS ${DEFINITIONS})
set(added_include_dirs set(added_include_dirs
src/modules/systemlib platforms/posix/include
src/platforms/posix/include
mavlink/include/mavlink
) )
# This block sets added_definitions and added_cxx_flags. # This block sets added_definitions and added_cxx_flags.

4
platforms/posix/cmake/sitl_target.cmake
View File

@ -32,7 +32,7 @@ endfunction()
# sitl run targets # sitl run targets
# #
set(SITL_RUNNER_MAIN_CPP ${PX4_SOURCE_DIR}/src/platforms/posix/main.cpp) set(SITL_RUNNER_MAIN_CPP src/main.cpp)
px4_add_sitl_app(APP_NAME px4 px4_add_sitl_app(APP_NAME px4
UPLOAD_NAME upload UPLOAD_NAME upload
MAIN_SRC ${SITL_RUNNER_MAIN_CPP} MAIN_SRC ${SITL_RUNNER_MAIN_CPP}
@ -111,7 +111,7 @@ foreach(viewer ${viewers})
set(SITL_RUNNER_MODEL_FILE ${PX4_SOURCE_DIR}/${config_sitl_rcS_dir}/${model}) set(SITL_RUNNER_MODEL_FILE ${PX4_SOURCE_DIR}/${config_sitl_rcS_dir}/${model})
set(SITL_RUNNER_WORKING_DIRECTORY ${SITL_WORKING_DIR}) set(SITL_RUNNER_WORKING_DIRECTORY ${SITL_WORKING_DIR})
configure_file(${PX4_SOURCE_DIR}/src/platforms/posix/sitl_runner_main.cpp.in sitl_runner_main_${model}.cpp @ONLY) configure_file(src/sitl_runner_main.cpp.in sitl_runner_main_${model}.cpp @ONLY)
px4_add_sitl_app(APP_NAME px4_${model} px4_add_sitl_app(APP_NAME px4_${model}
UPLOAD_NAME upload_${model} UPLOAD_NAME upload_${model}

0
src/platforms/posix/include/arch/board/board.h → platforms/posix/include/arch/board/board.h
View File

0
src/platforms/posix/include/crc32.h → platforms/posix/include/crc32.h
View File

0
src/platforms/posix/include/hrt_work.h → platforms/posix/include/hrt_work.h
View File

0
src/platforms/posix/include/px4_platform_types.h → platforms/posix/include/px4_platform_types.h
View File

0
src/platforms/posix/include/queue.h → platforms/posix/include/queue.h
View File

0
src/platforms/posix/include/system_config.h → platforms/posix/include/system_config.h
View File

34
platforms/posix/src/CMakeLists.txt Normal file
View File

@ -0,0 +1,34 @@
############################################################################
#
# Copyright (c) 2017 PX4 Development Team. 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.
#
############################################################################
add_subdirectory(px4_layer)

0
src/platforms/posix/main.cpp → platforms/posix/src/main.cpp
View File

1
src/platforms/posix/px4_layer/CMakeLists.txt → platforms/posix/src/px4_layer/CMakeLists.txt
View File

@ -54,7 +54,6 @@ px4_add_module(
px4_sem.cpp px4_sem.cpp
lib_crc32.c lib_crc32.c
drv_hrt.c drv_hrt.c
px4_log.c
${SHMEM_SRCS} ${SHMEM_SRCS}
DEPENDS DEPENDS
platforms__common platforms__common

0
src/platforms/posix/px4_layer/drv_hrt.c → platforms/posix/src/px4_layer/drv_hrt.c
View File

0
src/platforms/posix/px4_layer/lib_crc32.c → platforms/posix/src/px4_layer/lib_crc32.c
View File

0
src/platforms/posix/px4_layer/px4_posix_impl.cpp → platforms/posix/src/px4_layer/px4_posix_impl.cpp
View File

0
src/platforms/posix/px4_layer/px4_posix_tasks.cpp → platforms/posix/src/px4_layer/px4_posix_tasks.cpp
View File

0
src/platforms/posix/px4_layer/px4_sem.cpp → platforms/posix/src/px4_layer/px4_sem.cpp
View File

0
src/platforms/posix/px4_layer/shmem_posix.c → platforms/posix/src/px4_layer/shmem_posix.c
View File

0
src/platforms/posix/sitl_runner_main.cpp.in → platforms/posix/src/sitl_runner_main.cpp.in
View File

2
platforms/qurt/CMakeLists.txt
View File

@ -5,6 +5,8 @@ include(fastrpc)
include(qurt_lib) include(qurt_lib)
include(qurt_flags) include(qurt_flags)
add_subdirectory(src)
include_directories(${CMAKE_CURRENT_BINARY_DIR}) include_directories(${CMAKE_CURRENT_BINARY_DIR})
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wno-missing-prototypes") set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wno-missing-prototypes")

5
platforms/qurt/cmake/px4_impl_os.cmake
View File

@ -168,8 +168,9 @@ function(px4_os_add_flags)
${DSPAL_ROOT}/sys ${DSPAL_ROOT}/sys
${DSPAL_ROOT}/sys/sys ${DSPAL_ROOT}/sys/sys
${DSPAL_ROOT}/uart_esc/inc ${DSPAL_ROOT}/uart_esc/inc
src/platforms/posix/include
src/platforms/qurt/include platforms/posix/include
platforms/qurt/include
) )
set(added_definitions set(added_definitions

0
src/platforms/qurt/include/arch/board/board.h → platforms/qurt/include/arch/board/board.h
View File

0
src/platforms/qurt/include/board_config.h → platforms/qurt/include/board_config.h
View File

0
src/platforms/qurt/include/crc32.h → platforms/qurt/include/crc32.h
View File

0
src/platforms/qurt/include/hrt_work.h → platforms/qurt/include/hrt_work.h
View File

0
src/platforms/qurt/include/i2c.h → platforms/qurt/include/i2c.h
View File

0
src/platforms/qurt/include/poll.h → platforms/qurt/include/poll.h
View File

0
src/platforms/qurt/include/queue.h → platforms/qurt/include/queue.h
View File

0
src/platforms/qurt/include/qurt_log.h → platforms/qurt/include/qurt_log.h
View File

0
src/platforms/qurt/include/sys/ioctl.h → platforms/qurt/include/sys/ioctl.h
View File

34
platforms/qurt/src/CMakeLists.txt Normal file
View File

@ -0,0 +1,34 @@
############################################################################
#
# Copyright (c) 2017 PX4 Development Team. 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.
#
############################################################################
add_subdirectory(px4_layer)

7
src/platforms/qurt/px4_layer/CMakeLists.txt → platforms/qurt/src/px4_layer/CMakeLists.txt
View File

@ -39,11 +39,12 @@ set(QURT_LAYER_SRCS
px4_qurt_impl.cpp px4_qurt_impl.cpp
px4_qurt_tasks.cpp px4_qurt_tasks.cpp
lib_crc32.c lib_crc32.c
../../posix/px4_layer/drv_hrt.c ../../../posix/src/px4_layer/drv_hrt.c
qurt_stubs.c qurt_stubs.c
main.cpp main.cpp
shmem_qurt.c shmem_qurt.c
) )
if ("${QURT_ENABLE_STUBS}" STREQUAL "1") if ("${QURT_ENABLE_STUBS}" STREQUAL "1")
list(APPEND QURT_LAYER_SRCS list(APPEND QURT_LAYER_SRCS
../stubs/stubs_posix.c ../stubs/stubs_posix.c
@ -51,9 +52,8 @@ if ("${QURT_ENABLE_STUBS}" STREQUAL "1")
) )
endif() endif()
px4_add_module( px4_add_module(
MODULE platforms__qurt__px4_layer MODULE platforms_px4_layer
COMPILE_FLAGS COMPILE_FLAGS
SRCS SRCS
${QURT_LAYER_SRCS} ${QURT_LAYER_SRCS}
@ -61,4 +61,3 @@ px4_add_module(
DEPENDS DEPENDS
platforms__common platforms__common
) )
# vim: set noet ft=cmake fenc=utf-8 ff=unix :

0
src/platforms/qurt/px4_layer/commands_hil.c → platforms/qurt/src/px4_layer/commands_hil.c
View File

0
src/platforms/qurt/px4_layer/drv_hrt.c → platforms/qurt/src/px4_layer/drv_hrt.c
View File

0
src/platforms/qurt/px4_layer/get_commands.h → platforms/qurt/src/px4_layer/get_commands.h
View File

0
src/platforms/qurt/px4_layer/lib_crc32.c → platforms/qurt/src/px4_layer/lib_crc32.c
View File

0
src/platforms/qurt/px4_layer/main.cpp → platforms/qurt/src/px4_layer/main.cpp
View File

0
src/platforms/qurt/px4_layer/px4_qurt_impl.cpp → platforms/qurt/src/px4_layer/px4_qurt_impl.cpp
View File

0
src/platforms/qurt/px4_layer/px4_qurt_tasks.cpp → platforms/qurt/src/px4_layer/px4_qurt_tasks.cpp
View File

0
src/platforms/qurt/px4_layer/qurt_stubs.c → platforms/qurt/src/px4_layer/qurt_stubs.c
View File

0
src/platforms/qurt/px4_layer/shmem_qurt.c → platforms/qurt/src/px4_layer/shmem_qurt.c
View File

2
src/drivers/snapdragon_pwm_out/CMakeLists.txt
View File

@ -38,5 +38,5 @@ px4_add_module(
snapdragon_pwm_out.cpp snapdragon_pwm_out.cpp
DEPENDS DEPENDS
platforms__common platforms__common
mixer_gen
) )
# vim: set noet ft=cmake fenc=utf-8 ff=unix :

2
src/lib/DriverFramework

@ -1 +1 @@
Subproject commit 843ad727f2e9c310563dcd70173d6c859a246c07 Subproject commit 29f386628af2c9dd6a95cb873d0624c0c0c58381

2
src/modules/uavcanesc/CMakeLists.txt
View File

@ -53,7 +53,7 @@ add_definitions(
set(LIBUAVCAN_DIR ${PX4_SOURCE_DIR}/src/modules/uavcan/libuavcan) set(LIBUAVCAN_DIR ${PX4_SOURCE_DIR}/src/modules/uavcan/libuavcan)
add_subdirectory(${LIBUAVCAN_DIR} uavcanesc_libuavcan) add_subdirectory(${LIBUAVCAN_DIR} uavcanesc_libuavcan)
add_dependencies(uavcan platforms__nuttx) add_dependencies(uavcan prebuild_targets)
include_directories(${PX4_SOURCE_DIR}/src/modules/systemlib/flashparams) include_directories(${PX4_SOURCE_DIR}/src/modules/systemlib/flashparams)
include_directories(${LIBUAVCAN_DIR}/libuavcan/include) include_directories(${LIBUAVCAN_DIR}/libuavcan/include)

4
src/modules/uavcannode/CMakeLists.txt
View File

@ -53,7 +53,7 @@ add_definitions(
set(LIBUAVCAN_DIR ${PX4_SOURCE_DIR}/src/modules/uavcan/libuavcan) set(LIBUAVCAN_DIR ${PX4_SOURCE_DIR}/src/modules/uavcan/libuavcan)
add_subdirectory(${LIBUAVCAN_DIR} uavcannode_libuavcan) add_subdirectory(${LIBUAVCAN_DIR} uavcannode_libuavcan)
add_dependencies(uavcan platforms__nuttx) add_dependencies(uavcan prebuild_targets)
include_directories(${LIBUAVCAN_DIR}/libuavcan/include) include_directories(${LIBUAVCAN_DIR}/libuavcan/include)
include_directories(${LIBUAVCAN_DIR}/libuavcan/include/dsdlc_generated) include_directories(${LIBUAVCAN_DIR}/libuavcan/include/dsdlc_generated)
@ -79,7 +79,7 @@ px4_add_module(
uavcannode_params.c uavcannode_params.c
DEPENDS DEPENDS
platforms__common prebuild_targets
uavcan uavcan
) )

12
src/platforms/common/CMakeLists.txt
View File

@ -31,15 +31,25 @@
# #
############################################################################ ############################################################################
set(SRCS)
if (NOT "${OS}" MATCHES "qurt")
list(APPEND SRCS
px4_log.c
)
endif()
px4_add_module( px4_add_module(
MODULE platforms__common MODULE platforms__common
SRCS SRCS
module.cpp module.cpp
px4_getopt.c px4_getopt.c
shutdown.cpp shutdown.cpp
${SRCS}
DEPENDS DEPENDS
prebuild_targets prebuild_targets
uorb_headers uorb_headers
uorb_msgs uorb_msgs
) )
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
add_subdirectory(work_queue)

40
src/platforms/posix/px4_layer/px4_log.c → src/platforms/common/px4_log.c
View File

@ -1,9 +1,45 @@
/****************************************************************************
*
* Copyright (C) 2017 PX4 Development Team. 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 <px4_log.h>
#include <stdlib.h> #include <stdlib.h>
#include <string.h> #include <string.h>
#include <px4_log.h>
#if defined(__PX4_POSIX) && !defined(__PX4_CYGWIN) #if defined(__PX4_POSIX) && !defined(__PX4_CYGWIN)
#include <execinfo.h> #include <execinfo.h>
#endif #endif
#include <uORB/uORB.h> #include <uORB/uORB.h>
#include <uORB/topics/log_message.h> #include <uORB/topics/log_message.h>
#include <drivers/drv_hrt.h> #include <drivers/drv_hrt.h>
@ -92,7 +128,5 @@ __EXPORT void px4_log_modulename(int level, const char *moduleName, const char *
log_message.text[max_length - 1] = 0; //ensure 0-termination log_message.text[max_length - 1] = 0; //ensure 0-termination
orb_publish(ORB_ID(log_message), orb_log_message_pub, &log_message); orb_publish(ORB_ID(log_message), orb_log_message_pub, &log_message);
} }
} }

47
src/platforms/posix/work_queue/CMakeLists.txt → src/platforms/common/work_queue/CMakeLists.txt
View File

@ -30,25 +30,28 @@
# POSSIBILITY OF SUCH DAMAGE. # POSSIBILITY OF SUCH DAMAGE.
# #
############################################################################ ############################################################################
px4_add_module(
MODULE platforms__posix__work_queue # nuttx uses internal work queue currently
COMPILE_FLAGS if (NOT "${OS}" MATCHES "nuttx")
SRCS px4_add_module(
hrt_thread.c MODULE platforms__posix__work_queue
hrt_queue.c COMPILE_FLAGS
hrt_work_cancel.c SRCS
work_thread.c hrt_thread.c
work_lock.c hrt_queue.c
work_queue.c hrt_work_cancel.c
work_cancel.c work_thread.c
queue.c work_lock.c
dq_addlast.c work_queue.c
dq_remfirst.c work_cancel.c
sq_addlast.c queue.c
sq_remfirst.c dq_addlast.c
sq_addafter.c dq_remfirst.c
dq_rem.c sq_addlast.c
DEPENDS sq_remfirst.c
platforms__common sq_addafter.c
) dq_rem.c
# vim: set noet ft=cmake fenc=utf-8 ff=unix : DEPENDS
platforms__common
)
endif()

0
src/platforms/posix/work_queue/dq_addlast.c → src/platforms/common/work_queue/dq_addlast.c
View File

0
src/platforms/posix/work_queue/dq_rem.c → src/platforms/common/work_queue/dq_rem.c
View File

0
src/platforms/posix/work_queue/dq_remfirst.c → src/platforms/common/work_queue/dq_remfirst.c
View File

0
src/platforms/posix/work_queue/hrt_queue.c → src/platforms/common/work_queue/hrt_queue.c
View File

0
src/platforms/posix/work_queue/hrt_thread.c → src/platforms/common/work_queue/hrt_thread.c
View File

0
src/platforms/posix/work_queue/hrt_work_cancel.c → src/platforms/common/work_queue/hrt_work_cancel.c
View File

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