Qurt lightweight parameter implementation (#20735)

boards/modalai/voxl2-slpi/default.px4board

@@ -3,3 +3,4 @@ CONFIG_BOARD_TOOLCHAIN="qurt"
 CONFIG_MODULES_MUORB_SLPI=y
 CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_ORB_COMMUNICATOR=y
+CONFIG_SYSTEMCMDS_PARAM=y

boards/modalai/voxl2/default.px4board

@@ -5,3 +5,4 @@ CONFIG_MODULES_MUORB_APPS=y
 CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_ORB_COMMUNICATOR=y
+CONFIG_SYSTEMCMDS_PARAM=y

cmake/px4_add_library.cmake

@@ -48,9 +48,7 @@ function(px4_add_library target)
 	# all PX4 libraries have access to parameters and uORB
 	# TODO: Exclusion of qurt is temporary until these modules
 	#       build cleanly.
-	if(NOT ${PLATFORM} MATCHES "qurt")
-		add_dependencies(${target} uorb_headers parameters)
-	endif()
+	add_dependencies(${target} uorb_headers parameters)
 	target_link_libraries(${target} PRIVATE prebuild_targets)
 
 	set_property(GLOBAL APPEND PROPERTY PX4_MODULE_PATHS ${CMAKE_CURRENT_SOURCE_DIR})

cmake/px4_add_module.cmake

@@ -170,9 +170,6 @@ function(px4_add_module)
 		if (${PX4_PLATFORM} STREQUAL "nuttx" AND NOT CONFIG_BUILD_FLAT AND KERNEL)
 			target_link_libraries(${MODULE} PRIVATE kernel_parameters_interface px4_kernel_layer uORB_kernel)
 			set_property(GLOBAL APPEND PROPERTY PX4_KERNEL_MODULE_LIBRARIES ${MODULE})
-		elseif(${PX4_PLATFORM} STREQUAL "qurt")
-			target_link_libraries(${MODULE} PRIVATE px4_layer uORB)
-			set_property(GLOBAL APPEND PROPERTY PX4_MODULE_LIBRARIES ${MODULE})
 		else()
 			target_link_libraries(${MODULE} PRIVATE parameters_interface px4_layer uORB)
 			set_property(GLOBAL APPEND PROPERTY PX4_MODULE_LIBRARIES ${MODULE})

platforms/common/include/px4_platform_common/posix.h

@@ -100,6 +100,12 @@ typedef struct {
 #define POLLIN       (0x01)
 #endif
 
+#if defined(__PX4_QURT)
+// Qurt has no fsync implementation so need to declare one here
+// and then define a fake one in the Qurt platform code.
+void fsync(int fd);
+#endif
+
 __EXPORT int 		px4_open(const char *path, int flags, ...);
 __EXPORT int 		px4_close(int fd);
 __EXPORT ssize_t	px4_read(int fd, void *buffer, size_t buflen);
@@ -114,7 +120,6 @@ __END_DECLS
 #error "No TARGET OS Provided"
 #endif
 
-
 // The stack size is intended for 32-bit architectures; therefore
 // we often run out of stack space when pointers are larger than 4 bytes.
 // Double the stack size on posix when we're on a 64-bit architecture.

platforms/qurt/cmake/px4_impl_os.cmake

@@ -50,8 +50,6 @@ include(qurt_reqs)
 
 include_directories(${HEXAGON_SDK_INCLUDES})
 
-set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
-
 #=============================================================================
 #
 #	Defined functions in this file

platforms/qurt/include/qurt_reqs.h

@@ -38,6 +38,8 @@
 
 #include <pthread.h>
 #include <visibility.h>
+#include <inttypes.h>
+#include <sys/stat.h>
 
 __BEGIN_DECLS
 

platforms/qurt/src/px4/px4_qurt_impl.cpp

@@ -35,5 +35,7 @@
 __BEGIN_DECLS
 
 long PX4_TICKS_PER_SEC = 1000L;
+void fsync(int fd) { return; }
+uint32_t crc32part(const uint8_t *src, size_t len, uint32_t crc32val) { return 1; }
 
 __END_DECLS