purge broken qurt support and atlflight boards

.ci/Jenkinsfile-compile

@@ -13,7 +13,6 @@ pipeline {
             arm64: "px4io/px4-dev-aarch64:2021-05-04",
             base: "px4io/px4-dev-base-bionic:2021-05-04",
             nuttx: "px4io/px4-dev-nuttx-focal:2021-05-04",
-            snapdragon: "lorenzmeier/px4-dev-snapdragon:2020-04-01"
           ]
 
           def armhf_builds = [
@@ -106,14 +105,8 @@ pipeline {
             archive: true
           ]
 
-          def snapdragon_builds = [
-            target: ["atlflight_eagle_qurt", "atlflight_eagle_default"],
-            image: docker_images.snapdragon,
-            archive: false
-          ]
-
           def docker_builds = [
-            armhf_builds, base_builds, nuttx_builds_archive//, snapdragon_builds
+            armhf_builds, base_builds, nuttx_builds_archive
           ]
 
           for (def build_type = 0; build_type < docker_builds.size(); build_type++) {
@@ -165,12 +158,6 @@ pipeline {
 def createBuildNode(Boolean archive, String docker_image, String target) {
   return {
 
-    // TODO: fix the snapdragon image
-    bypass_entrypoint = ''
-    if (docker_image == 'lorenzmeier/px4-dev-snapdragon:2020-04-01') {
-      bypass_entrypoint = ' --entrypoint=""'
-    }
-
     node {
       docker.withRegistry('https://registry.hub.docker.com', 'docker_hub_dagar') {
         docker.image(docker_image).inside('-e CCACHE_BASEDIR=${WORKSPACE} -v ${CCACHE_DIR}:${CCACHE_DIR}:rw' + bypass_entrypoint) {

.gitmodules

@@ -18,10 +18,6 @@
 	path = src/lib/matrix
 	url = https://github.com/PX4/PX4-Matrix.git
 	branch = master
-[submodule "boards/atlflight/cmake_hexagon"]
-	path = boards/atlflight/cmake_hexagon
-	url = https://github.com/PX4/cmake_hexagon.git
-	branch = px4
 [submodule "src/drivers/gps/devices"]
 	path = src/drivers/gps/devices
 	url = https://github.com/PX4/PX4-GPSDrivers.git
@@ -38,9 +34,6 @@
 	path = platforms/nuttx/NuttX/apps
 	url = https://github.com/PX4/NuttX-apps.git
 	branch = px4_firmware_nuttx-10.0.0+
-[submodule "platforms/qurt/dspal"]
-	path = platforms/qurt/dspal
-	url = https://github.com/ATLFlight/dspal.git
 [submodule "Tools/flightgear_bridge"]
 	path = Tools/flightgear_bridge
 	url = https://github.com/PX4/PX4-FlightGear-Bridge.git

Makefile

@@ -214,7 +214,7 @@ define colorecho
 endef
 
 # Get a list of all config targets boards/*/*.cmake
-ALL_CONFIG_TARGETS := $(shell find boards -maxdepth 3 -mindepth 3 ! -name '*common*' ! -name '*sdflight*' -name '*.cmake' -print | sed -e 's|boards\/||' | sed -e 's|\.cmake||' | sed -e 's|\/|_|g' | sort)
+ALL_CONFIG_TARGETS := $(shell find boards -maxdepth 3 -mindepth 3 -name '*.cmake' -print | sed -e 's|boards\/||' | sed -e 's|\.cmake||' | sed -e 's|\/|_|g' | sort)
 
 # ADD CONFIGS HERE
 # --------------------------------------------------------------------
@@ -240,16 +240,6 @@ endef
 # All targets with just dependencies but no recipe must either be marked as phony (or have the special @: as recipe).
 .PHONY: all px4_sitl_default all_config_targets all_default_targets
 
-# Multi- config targets.
-eagle_default: atlflight_eagle_default atlflight_eagle_qurt
-eagle_rtps: atlflight_eagle_rtps atlflight_eagle_qurt-rtps
-
-excelsior_default: atlflight_excelsior_default atlflight_excelsior_qurt
-excelsior_rtps: atlflight_excelsior_rtps atlflight_excelsior_qurt-rtps
-
-.PHONY: eagle_default eagle_rtps
-.PHONY: excelsior_default excelsior_rtps
-
 # Other targets
 # --------------------------------------------------------------------
 
@@ -512,7 +502,7 @@ help:
 	@echo "Where <target> is one of:"
 	@$(MAKE) -pRrq -f $(lastword $(MAKEFILE_LIST)) : 2>/dev/null | \
 		awk -v RS= -F: '/^# File/,/^# Finished Make data base/ {if ($$1 !~ "^[#.]") {print $$1}}' | sort | \
-		egrep -v -e '^[^[:alnum:]]' -e '^($(subst $(space),|,$(ALL_CONFIG_TARGETS)))$$' -e '_default$$' -e '^(posix|eagle|Makefile)'
+		egrep -v -e '^[^[:alnum:]]' -e '^($(subst $(space),|,$(ALL_CONFIG_TARGETS)))$$' -e '_default$$' -e '^(Makefile)'
 	@echo
 	@echo "Or, $(MAKE) <config_target> [<make_target(s)>]"
 	@echo "Use '$(MAKE) list_config_targets' for a list of configuration targets."

README.md

@@ -8,7 +8,7 @@
 
 This repository holds the [PX4](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/PX4-Autopilot/tree/master/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.
 
-PX4 is highly portable, OS-independent and supports Linux, NuttX and QuRT out of the box.
+PX4 is highly portable, OS-independent and supports Linux, NuttX and MacOS out of the box.
 
 * Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/PX4-Autopilot/blob/master/LICENSE))
 * [Supported airframes](https://docs.px4.io/master/en/airframes/airframe_reference.html) ([portfolio](http://px4.io/#airframes)):

Tools/docker_run.sh

@@ -11,9 +11,6 @@ if [ -z ${PX4_DOCKER_REPO+x} ]; then
 	elif [[ $@ =~ .*pilotpi.arm64 ]]; then
 		# scumaker_pilotpi_arm64
 		PX4_DOCKER_REPO="px4io/px4-dev-aarch64:latest"
-	elif [[ $@ =~ .*eagle.* ]] || [[ $@ =~ .*excelsior.* ]]; then
-		# eagle, excelsior
-		PX4_DOCKER_REPO="lorenzmeier/px4-dev-snapdragon:2020-04-01"
 	elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*bebop.* ]]; then
 		# posix_rpi_cross, posix_bebop_default
 		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-02-04"

boards/atlflight/cmake_hexagon

@@ -1 +0,0 @@
-Subproject commit 08fd0a73045346448adf6969660196228b23e1fa

boards/atlflight/eagle/CMakeLists.txt

@@ -1,32 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2018 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.
-#
-############################################################################

boards/atlflight/eagle/cmake/upload.cmake

@@ -1,64 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2020 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.
-#
-############################################################################
-
-if("${PX4_PLATFORM}" MATCHES "qurt")
-
-	add_custom_target(upload
-		COMMAND ${PX4_BOARD_DIR}/scripts/adb_upload.sh
-				${PX4_BINARY_DIR}/platforms/qurt/libpx4.so ${PX4_BINARY_DIR}/platforms/qurt/libpx4muorb_skel.so ${PX4_SOURCE_DIR}/posix-configs/eagle/flight/px4.config # source
-				/usr/share/data/adsp # destination
-		DEPENDS px4 px4muorb_skel ${PX4_BOARD_DIR}/scripts/adb_upload.sh
-		COMMENT "uploading px4"
-		USES_TERMINAL
-	)
-
-else()
-
-	add_custom_target(upload
-		COMMAND ${PX4_BOARD_DIR}/scripts/adb_upload.sh
-				${CMAKE_RUNTIME_OUTPUT_DIRECTORY} ${PX4_SOURCE_DIR}/posix-configs/eagle/flight/mainapp.config ${PX4_BINARY_DIR}/etc # source
-				/home/linaro # destination
-		DEPENDS px4 ${PX4_BOARD_DIR}/scripts/adb_upload.sh
-		COMMENT "uploading px4"
-		USES_TERMINAL
-	)
-
-	add_custom_target(sanity
-		COMMAND ./px4_snapflight_sanitytest.sh -i -t
-		DEPENDS px4
-		WORKING_DIRECTORY ${PX4_BOARD_DIR}/scripts
-		COMMENT "uploading px4"
-		USES_TERMINAL
-	)
-
-endif()

boards/atlflight/eagle/default.cmake

@@ -1,128 +0,0 @@
-
-# The Eagle board is the first generation Snapdragon Flight board by Qualcomm.
-
-include(px4_git)
-px4_add_git_submodule(TARGET git_cmake_hexagon PATH "${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon")
-list(APPEND CMAKE_MODULE_PATH
-	"${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon"
-	"${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon/toolchain"
-	)
-
-# Get $QC_SOC_TARGET from environment if existing.
-if (DEFINED ENV{QC_SOC_TARGET})
-	set(QC_SOC_TARGET $ENV{QC_SOC_TARGET})
-else()
-	set(QC_SOC_TARGET "APQ8074")
-endif()
-
-# Disable the creation of the parameters.xml file by scanning individual
-# source files, and scan all source files.  This will create a parameters.xml
-# file that contains all possible parameters, even if the associated module
-# is not used.  This is necessary for parameter synchronization between the
-# ARM and DSP processors.
-set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
-
-set(CONFIG_SHMEM "1")
-add_definitions(-DORB_COMMUNICATOR)
-
-# atlflight toolchain doesn't properly set the compiler, so these aren't set automatically
-add_compile_options($<$<COMPILE_LANGUAGE:C>:-std=gnu99>)
-add_compile_options($<$<COMPILE_LANGUAGE:CXX>:-std=gnu++11>)
-
-add_definitions(
-	-D__PX4_POSIX_EAGLE
-	-D__PX4_LINUX
-)
-
-px4_add_board(
-	PLATFORM posix
-	VENDOR atlflight
-	MODEL eagle
-	LABEL default
-	TOOLCHAIN arm-linux-gnueabihf
-	ROMFSROOT px4fmu_common
-	DRIVERS
-		#barometer # all available barometer drivers
-		batt_smbus
-		camera_trigger
-		differential_pressure # all available differential pressure drivers
-		distance_sensor # all available distance sensor drivers
-		gps
-		#imu # all available imu drivers
-		#lights/rgbled
-		#magnetometer # all available magnetometer drivers
-		pwm_out_sim
-		qshell/posix
-		rc_input
-		smart_battery/batmon
-		#telemetry # all available telemetry drivers
-	MODULES
-		airspeed_selector
-		attitude_estimator_q
-		camera_feedback
-		commander
-		dataman
-		ekf2
-		events
-		flight_mode_manager
-		fw_att_control
-		fw_pos_control_l1
-		gyro_calibration
-		gyro_fft
-		land_detector
-		landing_target_estimator
-		#load_mon
-		local_position_estimator
-		logger
-		mavlink
-		mc_att_control
-		mc_hover_thrust_estimator
-		mc_pos_control
-		mc_rate_control
-		#micrortps_bridge
-		muorb/krait
-		muorb/test
-		navigator
-		rc_update
-		rover_pos_control
-		sensors
-		#sih
-		temperature_compensation
-		simulator
-		vmount
-		vtol_att_control
-	SYSTEMCMDS
-		#bl_update
-		#dumpfile
-		esc_calib
-		#hardfault_log
-		led_control
-		mixer
-		motor_ramp
-		motor_test
-		#mtd
-		#nshterm
-		param
-		perf
-		pwm
-		sd_bench
-		shutdown
-		system_time
-		#top
-		topic_listener
-		tune_control
-		uorb
-		ver
-		work_queue
-	EXAMPLES
-		#fake_gps
-		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		#hello
-		#hwtest # Hardware test
-		#matlab_csv_serial
-		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
-		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-		#rover_steering_control # Rover example app
-		#uuv_example_app
-		#work_item
-	)

boards/atlflight/eagle/qurt.cmake

@@ -1,88 +0,0 @@
-
-# The Eagle board is the first generation Snapdragon Flight board by Qualcomm.
-#
-# This cmake config builds for QURT which is the operating system running on
-# the DSP side.
-
-# Get $QC_SOC_TARGET from environment if existing.
-if (DEFINED ENV{QC_SOC_TARGET})
-	set(QC_SOC_TARGET $ENV{QC_SOC_TARGET})
-else()
-	set(QC_SOC_TARGET "APQ8074")
-endif()
-
-include(px4_git)
-px4_add_git_submodule(TARGET git_cmake_hexagon PATH "${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon")
-list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon")
-
-if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
-	message(FATAL_ERROR "Enviroment variable HEXAGON_SDK_ROOT must be set")
-else()
-	set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
-endif()
-
-include(toolchain/Toolchain-qurt)
-include(qurt_flags)
-include_directories(${HEXAGON_SDK_INCLUDES})
-
-set(CONFIG_SHMEM "1")
-add_definitions(-DORB_COMMUNICATOR)
-
-# Disable the creation of the parameters.xml file by scanning individual
-# source files, and scan all source files.  This will create a parameters.xml
-# file that contains all possible parameters, even if the associated module
-# is not used.  This is necessary for parameter synchronization between the
-# ARM and DSP processors.
-set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
-
-# This definition allows to differentiate the specific board.
-add_definitions(-D__PX4_QURT_EAGLE)
-
-px4_add_board(
-	PLATFORM qurt
-	VENDOR atlflight
-	MODEL eagle
-	LABEL qurt
-	DRIVERS
-		barometer/bmp280
-		gps
-		imu/invensense/mpu9250
-		#magnetometer/hmc5883
-		qshell/qurt
-		snapdragon_spektrum_rc
-	MODULES
-		airspeed_selector
-		attitude_estimator_q
-		commander
-		ekf2
-		flight_mode_manager
-		fw_att_control
-		fw_pos_control_l1
-		gyro_calibration
-		gyro_fft
-		land_detector
-		landing_target_estimator
-		local_position_estimator
-		mc_att_control
-		mc_hover_thrust_estimator
-		mc_pos_control
-		mc_rate_control
-		muorb/adsp
-		rc_update
-		rover_pos_control
-		sensors
-		temperature_compensation
-		vmount
-		vtol_att_control
-	SYSTEMCMDS
-		led_control
-		mixer
-		#motor_ramp
-		motor_test
-		param
-		perf
-		#pwm
-		#topic_listener
-		ver
-		work_queue
-	)

boards/atlflight/eagle/scripts/.gitignore

@@ -1,2 +0,0 @@
-minidm.log
-px4.log

boards/atlflight/eagle/scripts/adb_upload.sh

@@ -1,32 +0,0 @@
-#!/bin/bash
-
-if [[ "$#" < 2 ]]; then
-	echo "usage: adb_upload.sh SRC1 [SRC2 ...] DEST"
-	exit
-fi
-
-# Get last argument
-for last; do true; done
-
-echo "Wait for device..."
-adb wait-for-device
-
-echo "Creating folder structure..."
-adb shell mkdir -p $last
-
-echo "Uploading..."
-# Go through source files and push them one by one.
-i=0
-for arg
-do
-	if [[ $((i+1)) == "$#" ]]; then
-		break
-	fi
-	# echo "Pushing $arg to $last"
-	adb push $arg $last
-	((i+=1))
-done
-
-# Make sure they are synced to the file system
-echo "Syncing FS..."
-adb shell sync

boards/atlflight/eagle/scripts/px4_snapflight_sanitytest.sh

@@ -1,288 +0,0 @@
-#!/bin/bash
-
-#################################################################################################
-#
-# This script loads PX4 binaries to the Snapdragon Flight target and does a quick on-target sanity test.
-#
-# Pre-requisites:
-#  - Snapdragon Flight board connected to the host computer via USB cable
-#  - Snapdragon Flight board must have the latest platform BSP and flight controller addon installed"
-#  - mini-dm installed on host computer (see https://github.com/ATLFlight/ATLFlightDocs/blob/master/UserGuide.md#adsp)
-#  - PX4 software was built and binaries are in their usual locations in the Firmware tree.
-#
-# This script supports two modes:
-#  - Default mode (supported by PX4 community)
-#  - Legacy mode (uses proprietary drivers for ESC and RC Receiver, supported by Qualcomm)
-#
-# For help and cmd line options, run the script with the -h option
-#
-#################################################################################################
-
-# Halt on error
-set -e
-
-# Verbose mode
-## set -x
-
-# Mode of operation
-readonly MODE_DEFAULT=0
-readonly MODE_LEGACY=1
-readonly MODE_8x96=2
-readonly MODE_MAX=$MODE_8x96
-
-readonly RESULT_PASS=0
-readonly RESULT_FAIL=3
-readonly EXIT_ERROR=3
-
-
-# List of expected strings from the apps proc
-declare -a appsproc_strings_present=(
-   "on udp port 14556 remote port 14550"
-   )
-
-# List of unexpected strings from the apps proc
-declare -a appsproc_strings_absent=(
-   "ERROR"
-   "Getting Bulk data from fastRPC link"
-   "Segmentation fault"
-   )
-
-# List of expected strings from the DSP
-declare -a dsp_strings_present=(
-    "EKF aligned"
-   )
-
-# List of unexpected strings from the DSP
-declare -a dsp_strings_absent=(
-   "Segmentation fault"
-   )
-
-
-install=0
-test=0
-mode=0
-result=$RESULT_PASS
-
-# Default mini-dm path (needs to be installed in this location or overriden through cmd line
-minidmPath=~/Qualcomm/Hexagon_SDK/3.0/tools/debug/mini-dm/Linux_Debug
-
-# Default workspace path (parent directory of the script location)
-workspace=`pwd`/../../../..
-
-
-verifypx4test() {
-
-   #TODO: This needs to be fixed. For now, skip string checks for 8x96 platform.
-   if [ $mode == 2 ]; then
-      echo -e "[WARNING] Skipping string checks for 8x96 platform"
-      return
-   fi
-
-   echo -e "Verifying test results..."
-
-   # verify the presence of expected stings in the apps proc console log
-   for lineString in "${appsproc_strings_present[@]}"
-   do
-   	if ! grep -Fq "$lineString" px4.log
-   	then
-         # code if not found
-         echo -e "[ERROR] Missing expected string in apps proc log: $lineString"
-         result=$RESULT_FAIL
-      fi
-   done
-
-   # verify the absence of unexpected stings in the apps proc console log
-   for lineString in "${appsproc_strings_absent[@]}"
-   do
-   	if grep -Fq "$lineString" px4.log
-   	then
-         # code if not found
-         echo -e "[ERROR] Found unexpected string in apps proc log: $lineString"
-         result=$RESULT_FAIL
-      fi
-   done
-
-   echo -e "Displaying the content of the minidm.log"
-   cat minidm.log
-   echo -e "Analyzing the log for success and failure indications."
-
-   # verify the presence of expected stings in the DSP console log
-   for lineString in "${dsp_strings_present[@]}"
-   do
-   	if ! grep -Fq "$lineString" minidm.log
-   	then
-         # code if not found
-         echo -e "[ERROR] Missing expected string in DSP log: $lineString"
-         result=$RESULT_FAIL
-      fi
-   done
-
-   # verify the absence of unexpected stings in the DSP console log
-   for lineString in "${dsp_strings_absent[@]}"
-   do
-   	if grep -Fq "$lineString" minidm.log
-   	then
-         # code if not found
-         echo -e "[ERROR] Found unexpected string in DSP log: $lineString"
-         result=$RESULT_FAIL
-      fi
-   done
-
-   echo -e "Verification complete."
-
-   if [ $result -eq $RESULT_FAIL ]; then
-      echo -e "PX4 test result: FAIL"
-   else
-      echo -e "PX4 test result: PASS"
-   fi
-}
-
-installpx4() {
-
-   if [ $install -eq 0 ]; then
-      echo -e "SKIPPING install"
-      return 0;
-   fi
-
-   # Reboot the target before beginning the installation
-   echo -e "Rebooting the target..."
-   adb reboot
-   adb wait-for-usb-device
-   # Wait a bit longer after bootup, before copying binaries to the target.
-   sleep 30
-   adb devices
-
-   echo -e "Now installing PX4 binaries..."
-   # Copy binaries to the target
-   if [ $mode == 0 ]; then
-      # copy default binaries
-      echo -e "Copying the PX4 binaries from the eagle_default build tree..."
-      adb push $workspace/build/atlflight_eagle_qurt/platforms/qurt/libpx4.so /usr/share/data/adsp
-      adb push $workspace/build/atlflight_eagle_qurt/platforms/qurt/libpx4muorb_skel.so /usr/share/data/adsp
-      adb push $workspace/build/atlflight_eagle_default/bin/px4 /home/linaro
-      adb push $workspace/posix-configs/eagle/flight/px4.config /usr/share/data/adsp
-      adb push $workspace/posix-configs/eagle/flight/mainapp.config /home/linaro
-   fi
-
-   echo -e "Installation complete."
-}
-
-
-testpx4() {
-
-   if [ $test -eq 0 ]; then
-      echo -e "SKIPPING test"
-      return 0;
-   fi
-
-   echo -e "Starting PX4 test..."
-
-   # Remove previous instances of the file
-   rm px4.log | true
-   rm minidm.log | true
-
-   # Start mini-dm
-   echo -e "Starting mini-dm..."
-   ${minidmPath}/mini-dm > minidm.log &
-   sleep 5
-   # Verify that mini-dm is running
-   checkProc=$(ps -aef | grep mini-dm | grep -v grep)
-
-   if [ -z "${checkProc}" ]; then
-      echo "[ERROR] Unable to start mini-dm from path: ${minidmPath}"
-      exit $EXIT_ERROR
-   fi
-
-
-   # Start PX4
-   echo -e "Starting PX4..."
-   if [ $mode == 2 ]; then
-      # 8x96 platform
-      adb shell "/home/root/px4 /home/root/mainapp.config" > px4.log 2>&1 &
-   else
-      # 8x74 platform
-      adb shell "/home/linaro/px4 /home/linaro/mainapp.config" > px4.log 2>&1 &
-   fi
-   sleep 20
-   # Verify that PX4 is still running
-   checkProc=$(adb shell "ps -aef | grep px4 | grep -v grep")
-   if [ -z "${checkProc}" ]; then
-      echo "[ERROR] PX4 is not running on target!"
-      exit $EXIT_ERROR
-   fi
-
-   # Stop the PX4 process on target
-   adb shell "ps -eaf | grep px4 | grep -v grep | awk '{print $2}' | tr -s ' ' | cut -d' ' -f2 | xargs kill"
-   sleep 5
-
-   # Stop the mini-dm
-   killall mini-dm
-
-   echo -e "PX4 test complete."
-
-   # Verify the results
-   verifypx4test
-
-   echo -e "For more information, see px4.log and minidm.log."
-}
-
-
-usage() {
-  echo -e "\nThis script can copy PX4 binaries to the Snapdragon Flight target and do a quick on-target sanity test.\n"
-  echo -e "Pre-requisites:"
-  echo -e "- Snapdragon Flight board must be connected to host computer via USB"
-  echo -e "- Snapdragon Flight board must have the latest platform BSP and flight controller addon installed"
-  echo -e "- mini-dm must be installed on host computer (see https://github.com/ATLFlight/ATLFlightDocs/blob/master/UserGuide.md#adsp)"
-  echo -e "- PX4 software was built and binaries are in their usual locations in the tree\n"
-  echo -e "USAGE:\n ${0} [-m mode] [-i] [-t] [-l <minidm-path>]"
-  echo -e "    -m --> Build mode (0 = default mode, 1 = legacy mode)"
-  echo -e "    -i --> Install the PX4 binaries"
-  echo -e "    -t --> Test PX4 on target"
-  echo -e "    -l --> location of the mini-dm executable (Default: ${minidmPath})"
-  echo -e "    -h --> Display this help information"
-}
-
-# Parse the command line options
-while getopts "m:l:ith" opt;
-   do
-      case $opt in
-         m)
-            if [ $OPTARG -gt $MODE_MAX ]; then
-               echo "Invalid mode: $OPTARG (max allowed is $MODE_MAX)"
-               exit $EXIT_ERROR
-            fi
-            mode=$OPTARG
-            echo "Will run the script in mode $mode."
-            ;;
-         i)
-            install=1
-            ;;
-         t)
-            test=1
-            ;;
-         l)
-            minidmPath=$OPTARG
-            ;;
-         h)
-            usage
-            exit 0
-            ;;
-         :)
-            echo "Option -$OPTARG requires an argument" >&2
-            exit 1;;
-         ?)
-            echo "Unknown arg $opt"
-            usage
-            exit 1
-            ;;
-      esac
-done
-
-# Install the PX4 binaries
-installpx4
-
-# Run the sanity test
-testpx4
-
-exit $result
-

boards/atlflight/eagle/src/CMakeLists.txt

@@ -1,39 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2015 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_library(drivers_board
-	board_config.h
-	i2c.cpp
-	init.c
-	spi.cpp
-)

boards/atlflight/eagle/src/board_config.h

@@ -1,53 +0,0 @@
-/****************************************************************************
- *
- *   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.
- *
- ****************************************************************************/
-
-/**
- * @file board_config.h
- *
- * EAGLE internal definitions
- */
-
-#pragma once
-
-#define BOARD_OVERRIDE_UUID "EAGLEID000000000" // must be of length 16
-#define PX4_SOC_ARCH_ID     PX4_SOC_ARCH_ID_EAGLE
-
-/*
- * I2C busses
- */
-#define PX4_NUMBER_I2C_BUSES    3
-
-// Battery ADC channels
-
-#include <system_config.h>
-#include <px4_platform_common/board_common.h>

boards/atlflight/eagle/src/i2c.cpp

@@ -1,40 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2020 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_arch/i2c_hw_description.h>
-
-constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
-	initI2CBusExternal(2),
-	initI2CBusExternal(3),
-	initI2CBusExternal(9),
-};

boards/atlflight/eagle/src/spi.cpp

@@ -1,41 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2020 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_arch/spi_hw_description.h>
-#include <drivers/drv_sensor.h>
-
-constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
-	initSPIBus(1, {
-		initSPIDevice(DRV_IMU_DEVTYPE_MPU9250),
-	}),
-};

boards/atlflight/excelsior/default.cmake

@@ -1,126 +0,0 @@
-
-# Excelsior is the code name of a board currently in development.
-
-include(px4_git)
-px4_add_git_submodule(TARGET git_cmake_hexagon PATH "${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon")
-list(APPEND CMAKE_MODULE_PATH
-	"${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon"
-	"${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon/toolchain"
-	)
-
-# Get $QC_SOC_TARGET from environment if existing.
-if (DEFINED ENV{QC_SOC_TARGET})
-	set(QC_SOC_TARGET $ENV{QC_SOC_TARGET})
-else()
-	set(QC_SOC_TARGET "APQ8074")
-endif()
-
-# Disable the creation of the parameters.xml file by scanning individual
-# source files, and scan all source files.  This will create a parameters.xml
-# file that contains all possible parameters, even if the associated module
-# is not used.  This is necessary for parameter synchronization between the
-# ARM and DSP processors.
-set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
-
-set(CONFIG_SHMEM "1")
-add_definitions(-DORB_COMMUNICATOR)
-
-# atlflight toolchain doesn't properly set the compiler, so these aren't set automatically
-add_compile_options($<$<COMPILE_LANGUAGE:C>:-std=gnu99>)
-add_compile_options($<$<COMPILE_LANGUAGE:CXX>:-std=gnu++11>)
-
-add_definitions(
-	-D__PX4_POSIX_EXCELSIOR
-	-D__PX4_LINUX
-)
-
-px4_add_board(
-	PLATFORM posix
-	VENDOR atlflight
-	MODEL excelsior
-	LABEL default
-	TOOLCHAIN arm-oemllib32-linux-gnueabi
-	DRIVERS
-		#barometer # all available barometer drivers
-		batt_smbus
-		camera_trigger
-		differential_pressure # all available differential pressure drivers
-		distance_sensor # all available distance sensor drivers
-		gps
-		#imu # all available imu drivers
-		#lights/rgbled
-		#magnetometer # all available magnetometer drivers
-		pwm_out_sim
-		qshell/posix
-		rc_input
-		smart_battery/batmon
-		#telemetry # all available telemetry drivers
-	MODULES
-		airspeed_selector
-		attitude_estimator_q
-		camera_feedback
-		commander
-		dataman
-		ekf2
-		events
-		flight_mode_manager
-		fw_att_control
-		fw_pos_control_l1
-		gyro_calibration
-		gyro_fft
-		land_detector
-		landing_target_estimator
-		#load_mon
-		local_position_estimator
-		logger
-		mavlink
-		mc_att_control
-		mc_hover_thrust_estimator
-		mc_pos_control
-		mc_rate_control
-		#micrortps_bridge
-		muorb/krait
-		muorb/test
-		navigator
-		rc_update
-		rover_pos_control
-		sensors
-		#sih
-		simulator
-		vmount
-		vtol_att_control
-	SYSTEMCMDS
-		#bl_update
-		#dumpfile
-		esc_calib
-		#hardfault_log
-		led_control
-		mixer
-		motor_ramp
-		motor_test
-		#mtd
-		#nshterm
-		param
-		perf
-		pwm
-		sd_bench
-		shutdown
-		system_time
-		#top
-		topic_listener
-		tune_control
-		uorb
-		ver
-		work_queue
-	EXAMPLES
-		#fake_gps
-		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		#hello
-		#hwtest # Hardware test
-		#matlab_csv_serial
-		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
-		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-		#rover_steering_control # Rover example app
-		#uuv_example_app
-		#work_item
-	)

boards/atlflight/excelsior/qurt.cmake

@@ -1,88 +0,0 @@
-
-# Excelsior is the code name of a board currently in development.
-#
-# This cmake config builds for QURT which is the operating system running on
-# the DSP side.
-
-# Get $QC_SOC_TARGET from environment if existing.
-if (DEFINED ENV{QC_SOC_TARGET})
-	set(QC_SOC_TARGET $ENV{QC_SOC_TARGET})
-else()
-	set(QC_SOC_TARGET "APQ8074")
-endif()
-
-include(px4_git)
-px4_add_git_submodule(TARGET git_cmake_hexagon PATH "${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon")
-list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon")
-
-if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
-	message(FATAL_ERROR "Enviroment variable HEXAGON_SDK_ROOT must be set")
-else()
-	set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
-endif()
-
-include(toolchain/Toolchain-qurt)
-include(qurt_flags)
-include_directories(${HEXAGON_SDK_INCLUDES})
-
-set(CONFIG_SHMEM "1")
-add_definitions(-DORB_COMMUNICATOR)
-
-# Disable the creation of the parameters.xml file by scanning individual
-# source files, and scan all source files.  This will create a parameters.xml
-# file that contains all possible parameters, even if the associated module
-# is not used.  This is necessary for parameter synchronization between the
-# ARM and DSP processors.
-set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
-
-# This definition allows to differentiate the specific board.
-add_definitions(-D__PX4_QURT_EXCELSIOR)
-
-px4_add_board(
-	PLATFORM qurt
-	VENDOR atlflight
-	MODEL excelsior
-	LABEL qurt
-	DRIVERS
-		barometer/bmp280
-		gps
-		imu/invensense/mpu9250
-		magnetometer/hmc5883
-		qshell/qurt
-		snapdragon_spektrum_rc
-	MODULES
-		airspeed_selector
-		attitude_estimator_q
-		commander
-		ekf2
-		flight_mode_manager
-		fw_att_control
-		fw_pos_control_l1
-		gyro_calibration
-		gyro_fft
-		land_detector
-		landing_target_estimator
-		local_position_estimator
-		mc_att_control
-		mc_hover_thrust_estimator
-		mc_pos_control
-		mc_rate_control
-		muorb/adsp
-		rc_update
-		rover_pos_control
-		sensors
-		temperature_compensation
-		vmount
-		vtol_att_control
-	SYSTEMCMDS
-		led_control
-		mixer
-		#motor_ramp
-		motor_test
-		param
-		perf
-		#pwm
-		#topic_listener
-		ver
-		work_queue
-	)

boards/atlflight/excelsior/src/CMakeLists.txt

@@ -1,39 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2015 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_library(drivers_board
-	board_config.h
-	init.c
-	spi.cpp
-	i2c.cpp
-)

boards/atlflight/excelsior/src/board_config.h

@@ -1,51 +0,0 @@
-/****************************************************************************
- *
- *   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.
- *
- ****************************************************************************/
-
-/**
- * @file board_config.h
- *
- * EXCELSIOR internal definitions
- */
-
-#pragma once
-
-#define BOARD_OVERRIDE_UUID "EAGLEID000000000" // must be of length 16
-#define PX4_SOC_ARCH_ID     PX4_SOC_ARCH_ID_EAGLE
-
-/*
- * I2C busses
- */
-#define PX4_NUMBER_I2C_BUSES    3
-
-#include <system_config.h>
-#include <px4_platform_common/board_common.h>

boards/atlflight/excelsior/src/i2c.cpp

@@ -1,40 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2020 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_arch/i2c_hw_description.h>
-
-constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
-	initI2CBusExternal(2),
-	initI2CBusExternal(3),
-	initI2CBusExternal(9),
-};

boards/atlflight/excelsior/src/spi.cpp

@@ -1,41 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2020 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_arch/spi_hw_description.h>
-#include <drivers/drv_sensor.h>
-
-constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
-	initSPIBus(1, {
-		initSPIDevice(DRV_IMU_DEVTYPE_MPU9250),
-	}),
-};

boards/bitcraze/crazyflie/syslink/ringbuffer.cpp

@@ -244,22 +244,6 @@ RingBuffer::force(double val)
 	return force(&val, sizeof(val));
 }
 
-// FIXME - clang crashes on this get() call
-#ifdef __PX4_QURT
-#define __PX4_SBCAP my_sync_bool_compare_and_swap
-static inline bool my_sync_bool_compare_and_swap(volatile unsigned *a, unsigned b, unsigned c)
-{
-	if (*a == b) {
-		*a = c;
-		return true;
-	}
-
-	return false;
-}
-
-#else
-#define __PX4_SBCAP __sync_bool_compare_and_swap
-#endif
 bool
 RingBuffer::get(void *val, size_t val_size)
 {
@@ -284,7 +268,7 @@ RingBuffer::get(void *val, size_t val_size)
 			}
 
 			/* if the tail pointer didn't change, we got our item */
-		} while (!__PX4_SBCAP(&_tail, candidate, next));
+		} while (!__sync_bool_compare_and_swap(&_tail, candidate, next));
 
 		return true;
 

cmake/px4_add_module.cmake

@@ -179,9 +179,7 @@ function(px4_add_module)
 	endif()
 	set_target_properties(${MODULE} PROPERTIES STACK_MAX ${STACK_MAX})
 
-	if(${PX4_PLATFORM} STREQUAL "qurt")
+	if(${PX4_PLATFORM} STREQUAL "nuttx")
-		set_property(TARGET ${MODULE} PROPERTY POSITION_INDEPENDENT_CODE TRUE)
-	elseif(${PX4_PLATFORM} STREQUAL "nuttx")
 		target_compile_options(${MODULE} PRIVATE -Wframe-larger-than=${STACK_MAX})
 	endif()
 

platforms/common/CMakeLists.txt

@@ -33,7 +33,7 @@
 
 set(SRCS)
 
-if (NOT "${PX4_PLATFORM}" MATCHES "qurt" AND NOT "${PX4_BOARD}" MATCHES "io-v2" AND NOT "${PX4_BOARD_LABEL}" MATCHES "bootloader")
+if(NOT "${PX4_BOARD}" MATCHES "io-v2" AND NOT "${PX4_BOARD_LABEL}" MATCHES "bootloader")
 	list(APPEND SRCS
 		px4_log.cpp
 	)

platforms/common/include/px4_platform_common/atomic.h

@@ -84,10 +84,6 @@ public:
 	 */
 	inline T load() const
 	{
-#ifdef __PX4_QURT
-		return _value;
-#else
-
 #if defined(__PX4_NUTTX)
 
 		if (!__atomic_always_lock_free(sizeof(T), 0)) {
@@ -101,8 +97,6 @@ public:
 		{
 			return __atomic_load_n(&_value, __ATOMIC_SEQ_CST);
 		}
-
-#endif
 	}
 
 	/**
@@ -110,10 +104,6 @@ public:
 	 */
 	inline void store(T value)
 	{
-#ifdef __PX4_QURT
-		_value = value;
-#else
-
 #if defined(__PX4_NUTTX)
 
 		if (!__atomic_always_lock_free(sizeof(T), 0)) {
@@ -126,8 +116,6 @@ public:
 		{
 			__atomic_store(&_value, &value, __ATOMIC_SEQ_CST);
 		}
-
-#endif
 	}
 
 	/**
@@ -136,11 +124,6 @@ public:
 	 */
 	inline T fetch_add(T num)
 	{
-#ifdef __PX4_QURT
-		// TODO: fix
-		return _value++;
-#else
-
 #if defined(__PX4_NUTTX)
 
 		if (!__atomic_always_lock_free(sizeof(T), 0)) {
@@ -154,8 +137,6 @@ public:
 		{
 			return __atomic_fetch_add(&_value, num, __ATOMIC_SEQ_CST);
 		}
-
-#endif
 	}
 
 	/**
@@ -301,13 +282,7 @@ public:
 	}
 
 private:
-#ifdef __PX4_QURT
-	// It seems that __atomic_store  and __atomic_load are not supported on Qurt,
-	// so the best that we can do is to use volatile.
-	volatile T _value{};
-#else
 	T _value {};
-#endif
 };
 
 using atomic_int = atomic<int>;

platforms/common/include/px4_platform_common/defines.h

@@ -89,33 +89,14 @@ constexpr bool PX4_ISFINITE(double x) { return __builtin_isfinite(x); }
 #define USEC_PER_TICK (1000000/PX4_TICKS_PER_SEC)
 #define USEC2TICK(x) (((x)+(USEC_PER_TICK/2))/USEC_PER_TICK)
 
-#ifdef __PX4_QURT
-
-// QURT specific
-#  include "dspal_math.h"
-#  define PX4_ROOTFSDIR "."
-#  define PX4_TICKS_PER_SEC 1000L
-
-#else // __PX4_QURT
-
-// All POSIX except QURT.
-
 __BEGIN_DECLS
 extern long PX4_TICKS_PER_SEC;
 __END_DECLS
 
-#  if defined(__PX4_POSIX_EAGLE) || defined(__PX4_POSIX_EXCELSIOR)
+#define PX4_ROOTFSDIR "."
-#    define PX4_ROOTFSDIR "/home/linaro"
-#  else
-#    define PX4_ROOTFSDIR "."
-#  endif
-
-#endif // __PX4_QURT
 
 #define PX4_STORAGEDIR PX4_ROOTFSDIR
-#endif // __PX4_POSIX
 
-#if defined(__PX4_POSIX)
 /****************************************************************************
  * Defines for POSIX and ROS
  ****************************************************************************/

platforms/common/include/px4_platform_common/shmem.h

@@ -1,82 +0,0 @@
-/****************************************************************************
- *
- * Copyright (c) 2015 Ramakrishna Kintada. 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.
- *
- ****************************************************************************/
-
-#pragma once
-
-#include <parameters/param.h>
-
-#define MAX_SHMEM_PARAMS 2000 //MAP_SIZE - (LOCK_SIZE - sizeof(struct shmem_info))
-
-#define PARAM_BUFFER_SIZE (MAX_SHMEM_PARAMS / 8 + 1)
-
-struct shmem_info {
-	union param_value_u params_val[MAX_SHMEM_PARAMS];
-	unsigned char krait_changed_index[MAX_SHMEM_PARAMS / 8 + 1]; /*bit map of all params changed by krait*/
-	unsigned char adsp_changed_index[MAX_SHMEM_PARAMS / 8 + 1]; /*bit map of all params changed by adsp*/
-
-#ifdef __PX4_NUTTX
-};
-#else
-} __attribute__((packed));
-#endif
-
-#if (defined(__PX4_POSIX_EXCELSIOR) || defined(__PX4_QURT_EXCELSIOR))
-#define MAP_ADDRESS    0x861FC000
-#else
-#define MAP_ADDRESS	0xfbfc000
-#endif
-#define MAP_SIZE 	16384
-#define MAP_MASK 	(MAP_SIZE - 1)
-
-#define LOCK_OFFSET	0
-#define LOCK_SIZE	4
-#define LOCK_MEM        1
-#define UNLOCK_MEM      2
-
-#define TYPE_MASK 	0x1
-
-extern bool handle_in_range(param_t);
-
-#ifdef __PX4_QURT
-extern struct shmem_info *shmem_info_p;
-
-int get_shmem_lock(const char *caller_file_name, int caller_line_number);
-void release_shmem_lock(const char *caller_file_name, int caller_line_number);
-void init_shared_memory(void);
-
-void copy_params_to_shmem(const param_info_s *param_info_base);
-#endif
-
-void update_to_shmem(param_t param, union param_value_u value);
-int update_from_shmem(param_t param, union param_value_u *value);
-void update_index_from_shmem(void);

platforms/common/include/px4_platform_common/workqueue.h

@@ -45,10 +45,6 @@
 #include <queue.h>
 #include <px4_platform_types.h>
 
-#ifdef __PX4_QURT
-#include <dspal_types.h>
-#endif
-
 __BEGIN_DECLS
 
 #define HPWORK 0

platforms/common/px4_work_queue/WorkQueue.cpp

@@ -49,7 +49,7 @@ WorkQueue::WorkQueue(const wq_config_t &config) :
 	// set the threads name
 #ifdef __PX4_DARWIN
 	pthread_setname_np(_config.name);
-#elif !defined(__PX4_QURT)
+#else
 	pthread_setname_np(pthread_self(), _config.name);
 #endif
 

platforms/posix/CMakeLists.txt

@@ -25,73 +25,46 @@ px4_posix_generate_alias(
 	PREFIX ${PX4_SHELL_COMMAND_PREFIX}
 )
 
-if (("${PX4_BOARD}" MATCHES "atlflight_eagle") OR ("${PX4_BOARD}" MATCHES "atlflight_excelsior"))
+add_executable(px4
-	include(fastrpc)
+	src/px4/common/main.cpp
-	include(linux_app)
+	apps.cpp
-
-	FASTRPC_STUB_GEN(../qurt/px4muorb.idl)
-
-	LINUX_APP(
-		APP_NAME px4
-		IDL_NAME px4muorb
-		APPS_DEST "/home/linaro"
-		SOURCES
-			px4muorb_stub.c
-			src/px4/common/main.cpp
-			apps.cpp
-		LINK_LIBS
-			-Wl,--start-group
-				px4_layer
-				parameters
-				${module_libraries}
-				${FASTRPC_ARM_LIBS}
-				pthread m rt
-			-Wl,--end-group
-		)
-
-else()
-	add_executable(px4
-		src/px4/common/main.cpp
-		apps.cpp
-		)
-
-	target_link_libraries(px4
-		PRIVATE
-			${module_libraries}
-			pthread m
-
-			# horrible circular dependencies that need to be teased apart
-			px4_layer px4_platform
-			work_queue
-			parameters
 	)
 
-	if(NOT APPLE)
+target_link_libraries(px4
-		target_link_libraries(px4 PRIVATE rt)
+	PRIVATE
-	endif()
+		${module_libraries}
+		pthread m
 
-	target_link_libraries(px4 PRIVATE uORB)
+		# horrible circular dependencies that need to be teased apart
-
+		px4_layer px4_platform
-	#=============================================================================
+		work_queue
-	# install
+		parameters
-	#
+)
-
-	# TODO: extend to snapdragon
-
-	# px4 dirs
-	install(
-		DIRECTORY
-			${PROJECT_SOURCE_DIR}/posix-configs
-			${PROJECT_SOURCE_DIR}/test
-			${CMAKE_BINARY_DIR}/etc
-			${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
-		DESTINATION
-			${PROJECT_NAME}
-		USE_SOURCE_PERMISSIONS
-		)
 
+if(NOT APPLE)
+	target_link_libraries(px4 PRIVATE rt)
 endif()
 
+target_link_libraries(px4 PRIVATE uORB)
+
+#=============================================================================
+# install
+#
+
+# TODO: extend to snapdragon
+
+# px4 dirs
+install(
+	DIRECTORY
+		${PROJECT_SOURCE_DIR}/posix-configs
+		${PROJECT_SOURCE_DIR}/test
+		${CMAKE_BINARY_DIR}/etc
+		${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
+	DESTINATION
+		${PROJECT_NAME}
+	USE_SOURCE_PERMISSIONS
+)
+
 # Module Symlinks
 px4_posix_generate_symlinks(
 	MODULE_LIST ${module_libraries}

platforms/posix/src/px4/common/CMakeLists.txt

@@ -36,17 +36,6 @@ add_subdirectory(px4_daemon)
 add_subdirectory(lockstep_scheduler)
 
 set(EXTRA_DEPENDS)
-if("${CONFIG_SHMEM}" STREQUAL "1")
-	list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon")
-	include(hexagon_sdk)
-	include_directories(${HEXAGON_SDK_INCLUDES})
-	include_directories(${PX4_BINARY_DIR}/platforms/posix)
-	list(APPEND SHMEM_SRCS
-		shmem_posix.cpp
-	)
-	add_definitions(-DCONFIG_SHMEM=1)
-	set(EXTRA_DEPENDS generate_px4muorb_stubs)
-endif()
 
 add_library(px4_layer
 	px4_posix_impl.cpp
@@ -57,7 +46,6 @@ add_library(px4_layer
 	drv_hrt.cpp
 	cpuload.cpp
 	print_load.cpp
-	${SHMEM_SRCS}
 )
 target_compile_definitions(px4_layer PRIVATE MODULE_NAME="px4")
 target_compile_options(px4_layer PRIVATE -Wno-cast-align) # TODO: fix and enable

platforms/posix/src/px4/common/main.cpp

@@ -317,15 +317,6 @@ int main(int argc, char **argv)
 			pxh.run_pxh();
 		}
 
-		// When we exit, we need to stop muorb on Snapdragon.
-
-#ifdef __PX4_POSIX_EAGLE
-		// Sending muorb stop is needed if it is running to exit cleanly.
-		// TODO: we should check with px4_task_is_running("muorb") before stopping it.
-		std::string muorb_stop_cmd("muorb stop");
-		px4_daemon::Pxh::process_line(muorb_stop_cmd, true);
-#endif
-
 		std::string cmd("shutdown");
 		px4_daemon::Pxh::process_line(cmd, true);
 
@@ -451,10 +442,7 @@ void sig_int_handler(int sig_num)
 
 void set_cpu_scaling()
 {
-#ifdef __PX4_POSIX_EAGLE
+#if 0
-	// On Snapdragon we miss updates in sdlog2 unless all 4 CPUs are run
-	// at the maximum frequency all the time.
-	// Interestingely, cpu0 and cpu3 set the scaling for all 4 CPUs on Snapdragon.
 	system("echo performance > /sys/devices/system/cpu/cpu0/cpufreq/scaling_governor");
 	system("echo performance > /sys/devices/system/cpu/cpu3/cpufreq/scaling_governor");
 

platforms/posix/src/px4/common/px4_daemon/server_io.cpp

@@ -73,19 +73,6 @@ FILE *get_stdout(bool *isatty_)
 		return stdout;
 	}
 
-#ifdef __PX4_POSIX_EAGLE
-
-	// XXX FIXME: thread_data_ptr is set to 0x1 in the main thread on Snapdragon
-	// even though the pthread_key has been created.
-	// We can catch this using the check below but we have no clue why this happens.
-	if (thread_data_ptr == (void *)0x1) {
-		if (isatty_) { *isatty_ = isatty(1); }
-
-		return stdout;
-	}
-
-#endif
-
 	if (thread_data_ptr->thread_stdout == nullptr) {
 		if (isatty_) { *isatty_ = isatty(1); }
 

platforms/posix/src/px4/common/shmem_posix.cpp

@@ -1,125 +0,0 @@
-/****************************************************************************
- *
- * Copyright (c) 2015 Vijay Venkatraman. 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_platform_common/defines.h>
-#include <px4_platform_common/posix.h>
-#include <string.h>
-#include <stdbool.h>
-#include <stdlib.h>
-#include <fcntl.h>
-#include <unistd.h>
-#include <systemlib/err.h>
-#include <errno.h>
-#include <semaphore.h>
-
-#include <sys/stat.h>
-
-#include <drivers/drv_hrt.h>
-#include <sys/mman.h>
-#include <sys/ioctl.h>
-
-#include <parameters/param.h>
-
-#include <px4_platform_common/shmem.h>
-#include "px4muorb.h"
-
-//#define SHMEM_DEBUG
-
-static uint64_t update_from_shmem_prev_time = 0, update_from_shmem_current_time = 0;
-extern unsigned char *adsp_changed_index;
-
-struct param_wbuf_s {
-	union param_value_u val;
-	param_t param;
-	bool unsaved;
-};
-
-/*update value and param's change bit in shared memory*/
-void update_to_shmem(param_t param, union param_value_u value)
-{
-	if (px4muorb_param_update_to_shmem(param, (unsigned char *) &value, sizeof(value))) {
-		PX4_ERR("krait update param %u failed", param);
-	}
-}
-
-void update_index_from_shmem(void)
-{
-	if (!adsp_changed_index) {
-		PX4_ERR("%s no param buffer", __FUNCTION__);
-		return;
-	}
-
-	px4muorb_param_update_index_from_shmem(adsp_changed_index, PARAM_BUFFER_SIZE);
-}
-
-static void update_value_from_shmem(param_t param, union param_value_u *value)
-{
-	if (px4muorb_param_update_value_from_shmem(param, (unsigned char *) value, sizeof(union param_value_u))) {
-		PX4_ERR("%s get param failed", __FUNCTION__);
-	}
-}
-
-int update_from_shmem(param_t param, union param_value_u *value)
-{
-	unsigned int byte_changed, bit_changed;
-	unsigned int retval = 0;
-
-	if (!adsp_changed_index) {
-		PX4_ERR("%s no param buffer", __FUNCTION__);
-		return 0;
-	}
-
-	update_from_shmem_current_time = hrt_absolute_time();
-
-	if ((update_from_shmem_current_time - update_from_shmem_prev_time)
-	    > 1000000) { //update every 1 second
-		update_from_shmem_prev_time = update_from_shmem_current_time;
-		update_index_from_shmem();
-	}
-
-	byte_changed = param / 8;
-	bit_changed = 1 << param % 8;
-
-	if (adsp_changed_index[byte_changed] & bit_changed) {
-		update_value_from_shmem(param, value);
-		adsp_changed_index[byte_changed] &= ~bit_changed; //clear the bit
-		retval = 1;
-	}
-
-	//else {PX4_INFO("no change to param %s", param_name(param));}
-
-	PX4_DEBUG("%s %d bit on adsp index[%d]",
-		  (retval) ? "cleared" : "unchanged", bit_changed, byte_changed);
-
-	return retval;
-}

platforms/qurt/CMakeLists.txt

@@ -1,58 +0,0 @@
-
-px4_add_git_submodule(TARGET git_dspal PATH "${PX4_SOURCE_DIR}/platforms/qurt/dspal")
-
-list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/platforms/qurt/dspal/cmake_hexagon")
-include(toolchain/Toolchain-qurt)
-include(fastrpc)
-include(qurt_lib)
-include(qurt_flags)
-
-include_directories(${CMAKE_CURRENT_BINARY_DIR})
-
-get_property(module_libraries GLOBAL PROPERTY PX4_MODULE_LIBRARIES)
-
-px4_qurt_generate_builtin_commands(
-	OUT ${PX4_BINARY_DIR}/apps
-	MODULE_LIST ${module_libraries}
-)
-
-FASTRPC_STUB_GEN(px4muorb.idl)
-
-add_definitions(-D__QAIC_SKEL_EXPORT=__EXPORT)
-
-# Enable build without HexagonSDK to check link dependencies
-if ("${QURT_ENABLE_STUBS}" STREQUAL "1")
-
-	add_definitions(-D QURT_EXE_BUILD=1)
-
-	include_directories(
-                ${CMAKE_CURRENT_BINARY_DIR}
-                ${FASTRPC_DSP_INCLUDES}
-                )
-
-	add_executable(px4
-		${PX4_BINARY_DIR}/apps.cpp
-		${PX4_BINARY_DIR}/platforms/qurt/px4muorb_skel.c
-	)
-
-	target_link_libraries(px4 PRIVATE ${module_libraries})
-
-else()
-	# Generate the DSP lib and stubs but not the apps side executable
-	# The Apps side executable is generated via the posix_eagle_xxxx target
-	QURT_LIB(LIB_NAME px4
-		IDL_NAME px4muorb
-		SOURCES
-			${PX4_BINARY_DIR}/apps.cpp
-		LINK_LIBS
-			modules__muorb__adsp
-			${module_libraries}
-			m
-		)
-
-endif()
-
-# board defined upload helper
-if(EXISTS "${PX4_BOARD_DIR}/cmake/upload.cmake")
-	include(${PX4_BOARD_DIR}/cmake/upload.cmake)
-endif()

platforms/qurt/cmake/px4_impl_os.cmake

@@ -1,188 +0,0 @@
-############################################################################
-#
-# Copyright (c) 2015 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.
-#
-############################################################################
-
-#=============================================================================
-#
-#	Defined functions in this file
-#
-# 	OS Specific Functions
-#
-#		* px4_qurt_add_firmware
-#		* px4_qurt_generate_builtin_commands
-#		* px4_qurt_add_export
-#		* px4_qurt_generate_romfs
-#
-# 	Required OS Inteface Functions
-#
-# 		* px4_os_add_flags
-# 		* px4_os_determine_build_chip
-#		* px4_os_prebuild_targets
-#
-
-#=============================================================================
-#
-#	px4_qurt_generate_builtin_commands
-#
-#	This function generates the builtin_commands.c src for qurt
-#
-#	Usage:
-#		px4_qurt_generate_builtin_commands(
-#			MODULE_LIST <in-list>
-#			OUT <file>)
-#
-#	Input:
-#		MODULE_LIST	: list of modules
-#
-#	Output:
-#		OUT	: stem of generated apps.cpp/apps.h ("apps").
-#
-#	Example:
-#		px4_qurt_generate_builtin_commands(
-#			OUT <generated-src> MODULE_LIST px4_simple_app)
-#
-function(px4_qurt_generate_builtin_commands)
-	px4_parse_function_args(
-		NAME px4_qurt_generate_builtin_commands
-		ONE_VALUE OUT
-		MULTI_VALUE MODULE_LIST
-		REQUIRED MODULE_LIST OUT
-		ARGN ${ARGN})
-
-	set(builtin_apps_string)
-	set(builtin_apps_decl_string)
-	set(command_count 0)
-	foreach(module ${MODULE_LIST})
-		foreach(property MAIN STACK_MAIN PRIORITY)
-			get_target_property(${property} ${module} ${property})
-		endforeach()
-		if (MAIN)
-			set(builtin_apps_string
-				"${builtin_apps_string}\tapps[\"${MAIN}\"] = ${MAIN}_main;\n")
-			set(builtin_apps_decl_string
-				"${builtin_apps_decl_string}int ${MAIN}_main(int argc, char *argv[]);\n")
-			math(EXPR command_count "${command_count}+1")
-		endif()
-	endforeach()
-	configure_file(${PX4_SOURCE_DIR}/platforms/common/apps.cpp.in ${OUT}.cpp)
-	configure_file(${PX4_SOURCE_DIR}/platforms/common/apps.h.in ${OUT}.h)
-endfunction()
-
-#=============================================================================
-#
-#	px4_os_add_flags
-#
-#	Set the qurt build flags.
-#
-#	Usage:
-#		px4_os_add_flags()
-#
-function(px4_os_add_flags)
-
-	set(DSPAL_ROOT platforms/qurt/dspal)
-	include_directories(
-		${DSPAL_ROOT}/include
-		${DSPAL_ROOT}/sys
-		${DSPAL_ROOT}/sys/sys
-
-		platforms/posix/include
-		platforms/qurt/include
-	)
-
-	add_definitions(
-		-D__PX4_POSIX
-		-D__PX4_QURT
-	)
-
-	add_compile_options(
-		-fPIC
-		-fmath-errno
-
-		-Wno-unknown-warning-option
-		-Wno-cast-align
-	)
-
-	# Clear -rdynamic flag which fails for hexagon
-	set(CMAKE_SHARED_LIBRARY_LINK_C_FLAGS)
-	set(CMAKE_SHARED_LIBRARY_LINK_CXX_FLAGS)
-
-endfunction()
-
-#=============================================================================
-#
-#	px4_os_determine_build_chip
-#
-#	Sets PX4_CHIP and PX4_CHIP_MANUFACTURER.
-#
-#	Usage:
-#		px4_os_determine_build_chip()
-#
-function(px4_os_determine_build_chip)
-
-	# always use generic chip and chip manufacturer
-	set(PX4_CHIP "generic" CACHE STRING "PX4 Chip" FORCE)
-	set(PX4_CHIP_MANUFACTURER "generic" CACHE STRING "PX4 Chip Manufacturer" FORCE)
-
-endfunction()
-
-#=============================================================================
-#
-#	px4_os_prebuild_targets
-#
-#	This function generates os dependent targets
-#
-#	Usage:
-#		px4_os_prebuild_targets(
-#			OUT <out-list_of_targets>
-#			BOARD <in-string>
-#			)
-#
-#	Input:
-#		BOARD		: board
-#
-#	Output:
-#		OUT	: the target list
-#
-#	Example:
-#		px4_os_prebuild_targets(OUT target_list BOARD px4_fmu-v2)
-#
-function(px4_os_prebuild_targets)
-	px4_parse_function_args(
-			NAME px4_os_prebuild_targets
-			ONE_VALUE OUT BOARD
-			REQUIRED OUT
-			ARGN ${ARGN})
-
-	add_library(prebuild_targets INTERFACE)
-	add_dependencies(prebuild_targets DEPENDS uorb_headers)
-
-endfunction()

platforms/qurt/dspal

@@ -1 +0,0 @@
-Subproject commit 0322a4e345e48ea28cb1cee14a33033cdaf0b16a

platforms/qurt/include/crc32.h

@@ -1,83 +0,0 @@
-/****************************************************************************
- * include/crc.h
- *
- *   Copyright (C) 2010 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.
- *
- ****************************************************************************/
-
-#ifndef __INCLUDE_CRC32_H
-#define __INCLUDE_CRC32_H
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <sys/types.h>
-#include <stdint.h>
-
-/****************************************************************************
- * Public Function Prototypes
- ****************************************************************************/
-
-#ifdef __cplusplus
-#define EXTERN extern "C"
-extern "C" {
-#else
-#define EXTERN extern
-#endif
-
-/****************************************************************************
- * Name: crc32part
- *
- * Description:
- *   Continue CRC calculation on a part of the buffer.
- *
- ****************************************************************************/
-
-EXTERN uint32_t crc32part(const uint8_t *src, size_t len,
-			  uint32_t crc32val);
-
-/****************************************************************************
- * Name: crc32
- *
- * Description:
- *   Return a 32-bit CRC of the contents of the 'src' buffer, length 'len'
- *
- ****************************************************************************/
-
-EXTERN uint32_t crc32(const uint8_t *src, size_t len);
-
-#undef EXTERN
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* __INCLUDE_CRC32_H */

platforms/qurt/include/hrt_work.h

@@ -1,65 +0,0 @@
-/****************************************************************************
- *
- * 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.
- *
- ****************************************************************************/
-
-#include <px4_platform_common/log.h>
-#include <semaphore.h>
-#include <px4_platform_common/workqueue.h>
-
-#pragma once
-
-__BEGIN_DECLS
-
-extern sem_t _hrt_work_lock;
-extern struct wqueue_s g_hrt_work;
-
-void hrt_work_queue_init(void);
-int hrt_work_queue(struct work_s *work, worker_t worker, void *arg, uint32_t usdelay);
-void hrt_work_cancel(struct work_s *work);
-
-static inline void hrt_work_lock(void);
-static inline void hrt_work_unlock(void);
-
-static inline void hrt_work_lock()
-{
-	//PX4_INFO("hrt_work_lock");
-	sem_wait(&_hrt_work_lock);
-}
-
-static inline void hrt_work_unlock()
-{
-	//PX4_INFO("hrt_work_unlock");
-	sem_post(&_hrt_work_lock);
-}
-
-__END_DECLS
-

platforms/qurt/include/queue.h

@@ -1,134 +0,0 @@
-/************************************************************************
- * include/queue.h
- *
- *   Copyright (C) 2007-2009 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.
- *
- ************************************************************************/
-
-#ifndef __INCLUDE_QUEUE_H
-#define __INCLUDE_QUEUE_H
-
-/************************************************************************
- * Included Files
- ************************************************************************/
-
-#include <sys/types.h>
-
-#ifdef __cplusplus
-#include <cstddef>	// NULL
-#else
-#include <stddef.h>	// NULL
-#endif
-
-/************************************************************************
- * Pre-processor Definitions
- ************************************************************************/
-
-#define sq_init(q) do { (q)->head = NULL; (q)->tail = NULL; } while (0)
-#define dq_init(q) do { (q)->head = NULL; (q)->tail = NULL; } while (0)
-
-#define sq_next(p) ((p)->flink)
-#define dq_next(p) ((p)->flink)
-#define dq_prev(p) ((p)->blink)
-
-#define sq_empty(q) ((q)->head == NULL)
-#define dq_empty(q) ((q)->head == NULL)
-
-#define sq_peek(q)  ((q)->head)
-#define dq_peek(q)  ((q)->head)
-
-// Required for Linux
-#define FAR
-
-/************************************************************************
- * Global Type Declarations
- ************************************************************************/
-
-struct sq_entry_s {
-	FAR struct sq_entry_s *flink;
-};
-typedef struct sq_entry_s sq_entry_t;
-
-struct dq_entry_s {
-	FAR struct dq_entry_s *flink;
-	FAR struct dq_entry_s *blink;
-};
-typedef struct dq_entry_s dq_entry_t;
-
-struct sq_queue_s {
-	FAR sq_entry_t *head;
-	FAR sq_entry_t *tail;
-};
-typedef struct sq_queue_s  sq_queue_t;
-
-struct dq_queue_s {
-	FAR dq_entry_t *head;
-	FAR dq_entry_t *tail;
-};
-typedef struct dq_queue_s dq_queue_t;
-
-/************************************************************************
- * Global Function Prototypes
- ************************************************************************/
-
-#ifdef __cplusplus
-#define EXTERN extern "C"
-extern "C" {
-#else
-#define EXTERN extern
-#endif
-
-EXTERN void  sq_addfirst(FAR sq_entry_t *node, sq_queue_t *queue);
-EXTERN void  dq_addfirst(FAR dq_entry_t *node, dq_queue_t *queue);
-EXTERN void  sq_addlast(FAR sq_entry_t *node, sq_queue_t *queue);
-EXTERN void  dq_addlast(FAR dq_entry_t *node, dq_queue_t *queue);
-EXTERN void  sq_addafter(FAR sq_entry_t *prev, FAR sq_entry_t *node,
-			 sq_queue_t *queue);
-EXTERN void  dq_addafter(FAR dq_entry_t *prev, FAR dq_entry_t *node,
-			 dq_queue_t *queue);
-EXTERN void  dq_addbefore(FAR dq_entry_t *next, FAR dq_entry_t *node,
-			  dq_queue_t *queue);
-
-EXTERN FAR sq_entry_t *sq_remafter(FAR sq_entry_t *node, sq_queue_t *queue);
-EXTERN void            sq_rem(FAR sq_entry_t *node, sq_queue_t *queue);
-EXTERN void            dq_rem(FAR dq_entry_t *node, dq_queue_t *queue);
-EXTERN FAR sq_entry_t *sq_remlast(sq_queue_t *queue);
-EXTERN FAR dq_entry_t *dq_remlast(dq_queue_t *queue);
-EXTERN FAR sq_entry_t *sq_remfirst(sq_queue_t *queue);
-EXTERN FAR dq_entry_t *dq_remfirst(dq_queue_t *queue);
-
-#undef EXTERN
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* __INCLUDE_QUEUE_H_ */
-

platforms/qurt/include/qurt_log.h

@@ -1,64 +0,0 @@
-/****************************************************************************
- *
- * 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.
- *
- ****************************************************************************/
-
-#pragma once
-
-#include <sys/cdefs.h>
-#include <stdarg.h>
-#include <stdio.h>
-#include <stdint.h>
-
-__BEGIN_DECLS
-
-__EXPORT extern uint64_t hrt_absolute_time(void);
-
-//void qurt_log(int level, const char *file, int line, const char *format, ...);
-
-// declaration to make the compiler happy.  This symbol is part of the adsp static image.
-void HAP_debug(const char *msg, int level, const char *filename, int line);
-
-#ifndef qurt_log_defined
-#define qurt_log_defined
-static __inline void qurt_log(int level, const char *file, int line,
-			      const char *format, ...)
-{
-	char buf[256];
-	va_list args;
-	va_start(args, format);
-	vsnprintf(buf, sizeof(buf), format, args);
-	va_end(args);
-	HAP_debug(buf, level, file, line);
-}
-#endif
-
-__END_DECLS

platforms/qurt/px4muorb.idl

@@ -1,184 +0,0 @@
-//=======================================================================
-// Copyright (c) 2016, 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:
-//     * Redistributions of source code must retain the above copyright
-//       notice, this list of conditions and the following disclaimer.
-//     * 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.
-//     * Neither the name of The Linux Foundation 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 "AS IS" AND ANY EXPRESS OR IMPLIED
-// WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
-// MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT
-// 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 "AEEStdDef.idl"
-
-interface px4muorb{
-
-   /**
-    * interface method to start the uorb service and initialize the muorb
-    */
-   AEEResult orb_initialize();
-
-   /**
-    * Interface to set an offset to hrt_absolute_time on the DSP.
-    *
-    * @param time_diff_us: time difference of the DSP clock to Linux clock.
-    *   A positive number means the Linux clock is ahead of the DSP one.
-    */
-   AEEResult set_absolute_time_offset( in long time_diff_us );
-
-   /**
-    * Interface to request hrt_absolute_time on the DSP.
-    * @param time_us: pointer to time in us
-    */
-   AEEResult get_absolute_time(rout unsigned long long time_us);
-   
-   /**
-    * Interface to update param for krait.
-    *
-    * @param param: param index.
-    * @param value: param value.
-    */
-   AEEResult param_update_to_shmem( in unsigned long param, in sequence<octet> value);
-   
-   /**
-    * Interface to update index for krait.
-    * @param data: param index array.
-    */
-   AEEResult param_update_index_from_shmem( rout sequence<octet> data);
-   
-   /**
-    * Interface to get param value for krait.
-    *
-    * @param param: param index.
-    * @param value: param value.
-    */
-   AEEResult param_update_value_from_shmem( in unsigned long param, rout sequence<octet> value);
-
-   /**
-    * Interface called from krait to inform of a published topic.
-    * @param topic_name: name of the topic being advertised
-    */
-   AEEResult topic_advertised(in string topic_name);
-
-   /**
-    * Interface called from krait to inform of a published topic.
-    * @param topic_name: name of the topic being advertised
-    */
-   AEEResult topic_unadvertised(in string topic_name);
-
-   /**
-    * Interface to add a subscriber to the identified topic
-    * @param topic_name
-    * @return status
-    *   0 == success
-    *   all others is a failure.
-    */
-   AEEResult  add_subscriber( in string topic_name );
-
-   /**
-    * Interface to remove a subscriber for the identified topic.
-    * @param topic_name
-    * @return status
-    *   0 == success
-    *   all others is a failure.
-    */
-   AEEResult  remove_subscriber( in string topic_name );
-
-   /**
-    * Interface called from krait for topic data.
-    * @param topic_name
-    * @param data
-    *   a sequence of bytes for the passed data stream.
-    *   as per the HExagon Documention, the max size of this stream is 255 bytes.
-    * @return status
-    *   0 == success
-    *   all others is a failure.
-    */
-   AEEResult  send_topic_data( in string topic_name, in sequence<octet> data );
-
-   /**
-    * Inteface to check if there are subscribers on the remote adsp client
-    * This inteface is required as the krait app can be restarted without adsp
-    * being re-started.  In this scenario the krait app does not know if there
-    * is subscriber on the remote end(ie adsp).
-    * @param topic_name
-    *   The name of the topic for which the subscription needs to be checked.
-    * @param rout int status
-    *   The status of the subscription, 0=no-subscribers, 1 = more than one subscriber.
-    * @return status
-    *   0 == success
-    *   all others is a failure.
-    */
-   AEEResult is_subscriber_present( in string topic_name, rout long status );
-
-   /**
-    * Interface to receive data from adsp.  Since there is only one interface, the different message
-    * types are identified by the msg_type field.
-    * @param msg_type
-    *   The possible values are:
-    *   1 ==> add_subscriber
-    *   2 ==> remove_subscriber
-    *   3 ==> recieve_topic_data
-    *   4 ==> advertised_topic
-    * @note: for message types, 1 & 2, the data pointer returned is null with length of 0.
-    * @param topic_name
-    *   The topic being returned.
-    * @param data
-    *   the data stream
-    * @param bytes_returned
-    *   The number of bytes returned in the byte buffer.
-    * @return status
-    *   0 == success
-    *   all others is a failure.
-    */
-   AEEResult  receive_msg( rout long msg_type, rout string topic_name, rout sequence<octet> data, rout long bytes_returned );
-
-   /**
-    * Since the receive_msg is a blocking call, the client will not be able to peform a clean shutdown.  Calling this
-    * function will unblock the receive msg an return an error code.
-    * Ideally this should be implemented as a timeout for the #receive_msg call.
-    * @param none
-    * @return status
-    *    0 = success
-    *    all others is a failure.
-    **/
-    AEEResult unblock_recieve_msg();
-
-    /**
-     * This interface will perform a bulk read from the adsp and return the data buffer.
-     * The structure of the messages is as follows
-     * +----------------+-----------+---------------+----------+----------------+
-     * | Topic Name Len | datal_len |TopicName(nullterminated) |   data bytes   |
-     * +----------------+-----------+---------------+----------+----------------+
-     * |<-- 2 bytes  -->|<-2bytes-> |<-- topicnamelen bytes -->|<-datalenbytes->|
-     * +----------------+---------------------------+----------+----------------+
-     * @param data
-     *    The output buffer where the data needs to be copied
-     * @param bytes_returned
-     *    The number of bytes the buffer is filled up by.
-     * @param topic_count
-     *    The numbe of topics filled in the buffer.
-     * @return status
-     *    0 = success
-     *    all others is a failure.
-     **/
-    AEEResult receive_bulk_data( rout sequence<octet> data, rout long bytes_returned, rout long topic_count );
-};

platforms/qurt/src/px4/CMakeLists.txt

@@ -1,37 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2019 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(common)
-
-add_subdirectory(${PX4_CHIP_MANUFACTURER})
-

platforms/qurt/src/px4/common/CMakeLists.txt

@@ -1,62 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2015 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.
-#
-############################################################################
-
-list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon")
-include(hexagon_sdk)
-
-include_directories(${HEXAGON_8074_INCLUDES})
-
-set(QURT_LAYER_SRCS
-	px4_qurt_impl.cpp
-	tasks.cpp
-	lib_crc32.c
-	drv_hrt.cpp
-	qurt_stubs.c
-	main.cpp
-	shmem_qurt.cpp
-	px4_init.cpp
-	)
-
-if ("${QURT_ENABLE_STUBS}" STREQUAL "1")
-	list(APPEND QURT_LAYER_SRCS
-		stubs/posix.c
-		stubs/qurt.c
-		)
-endif()
-
-add_library(px4_layer
-	${QURT_LAYER_SRCS}
-	${CONFIG_SRC}
-)
-target_link_libraries(px4_layer PRIVATE work_queue)
-add_dependencies(px4_layer uorb_msgs) # dataman requires mission

platforms/qurt/src/px4/common/commands_hil.c

@@ -1,107 +0,0 @@
-/****************************************************************************
- *
- *   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.
- *
- ****************************************************************************/
-/**
- * @file commands_muorb_test.c
- * Commands to run for the "qurt_muorb_test" config
- *
- * @author Mark Charlebois <charlebm@gmail.com>
- */
-
-const char *get_commands(void);
-const char *get_commands()
-{
-
-	static const char *commands =
-		"param set CAL_GYRO0_ID 2293760\n"
-		"param set CAL_ACC0_ID 1310720\n"
-		"param set CAL_ACC1_ID 1376256\n"
-		"param set CAL_MAG0_ID 196608\n"
-//		"rgbled start\n"
-//		"tone_alarm start\n"
-		"rc_update start\n"
-		"commander start --hil\n"
-		"sensors start\n"
-		"ekf2 start\n"
-		"mc_hover_thrust_estimator start\n"
-		"flight_mode_manager start\n"
-		"mc_pos_control start\n"
-		"mc_att_control start\n"
-		"mc_rate_control start\n"
-		"sleep 1\n"
-		"pwm_out_sim start\n"
-		"param set RC1_MAX 2015\n"
-		"param set RC1_MIN 996\n"
-		"param set RC1_TRIM 1502\n"
-		"param set RC1_REV -1\n"
-		"param set RC2_MAX 2016 \n"
-		"param set RC2_MIN 995\n"
-		"param set RC2_TRIM 1500\n"
-		"param set RC3_MAX 2003\n"
-		"param set RC3_MIN 992\n"
-		"param set RC3_TRIM 992\n"
-		"param set RC4_MAX 2011\n"
-		"param set RC4_MIN 997\n"
-		"param set RC4_TRIM 1504\n"
-		"param set RC4_REV -1\n"
-		"param set RC6_MAX 2016\n"
-		"param set RC6_MIN 992\n"
-		"param set RC6_TRIM 1504\n"
-		"param set RC_CHAN_CNT 8\n"
-		"param set RC_MAP_MODE_SW 5\n"
-		"param set RC_MAP_POSCTL_SW 7\n"
-		"param set RC_MAP_RETURN_SW 8\n"
-		"param set MC_YAW_P 1.5\n"
-		"param set MC_PITCH_P 3.0\n"
-		"param set MC_ROLL_P 3.0\n"
-		"param set MC_YAWRATE_P 0.2\n"
-		"param set MC_PITCHRATE_P 0.03\n"
-		"param set MC_ROLLRATE_P 0.03\n"
-		"param set ATT_W_ACC 0.0002\n"
-		"param set ATT_W_MAG 0.002\n"
-		"param set ATT_W_GYRO_BIAS 0.05\n"
-		"sleep 1\n"
-
-
-		"param set MAV_TYPE 2\n"
-		"mixer load /dev/pwm_output0 /startup/quad_x.main.mix\n"
-		"list_files\n"
-		"list_tasks\n"
-		"sleep 10\n"
-		"list_tasks\n"
-		"sleep 10\n"
-
-		;
-
-	return commands;
-
-}

platforms/qurt/src/px4/common/drv_hrt.cpp

@@ -1,477 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2012 - 2018 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.
- *
- ****************************************************************************/
-
-/**
- * @file drv_hrt.cpp
- *
- * High-resolution timer with callouts and timekeeping.
- */
-
-#include <px4_platform_common/time.h>
-#include <px4_platform_common/posix.h>
-#include <px4_platform_common/defines.h>
-#include <px4_platform_common/workqueue.h>
-#include <px4_platform_common/tasks.h>
-#include <drivers/drv_hrt.h>
-
-#include <semaphore.h>
-#include <time.h>
-#include <string.h>
-#include <errno.h>
-#include "hrt_work.h"
-
-// Intervals in usec
-static constexpr unsigned HRT_INTERVAL_MIN = 50;
-static constexpr unsigned HRT_INTERVAL_MAX = 50000000;
-
-/*
- * Queue of callout entries.
- */
-static struct sq_queue_s	callout_queue;
-
-/* latency baseline (last compare value applied) */
-static uint64_t			latency_baseline;
-
-/* timer count at interrupt (for latency purposes) */
-static uint64_t			latency_actual;
-
-/* latency histogram */
-const uint16_t latency_bucket_count = LATENCY_BUCKET_COUNT;
-const uint16_t latency_buckets[LATENCY_BUCKET_COUNT] = { 1, 2, 5, 10, 20, 50, 100, 1000 };
-__EXPORT uint32_t latency_counters[LATENCY_BUCKET_COUNT + 1];
-
-static px4_sem_t 	_hrt_lock;
-static struct work_s	_hrt_work;
-
-static int32_t dsp_offset = 0;
-
-static void hrt_latency_update();
-
-static void hrt_call_reschedule();
-static void hrt_call_invoke();
-
-hrt_abstime hrt_absolute_time_offset()
-{
-	return 0;
-}
-
-static void hrt_lock()
-{
-	px4_sem_wait(&_hrt_lock);
-}
-
-static void hrt_unlock()
-{
-	px4_sem_post(&_hrt_lock);
-}
-
-#include "dspal_time.h"
-
-int px4_clock_settime(clockid_t clk_id, struct timespec *tp)
-{
-	/* do nothing right now */
-	return 0;
-}
-
-int px4_clock_gettime(clockid_t clk_id, struct timespec *tp)
-{
-	return clock_gettime(clk_id, tp);
-}
-
-/*
- * Get absolute time.
- */
-hrt_abstime hrt_absolute_time()
-{
-	struct timespec ts;
-	px4_clock_gettime(CLOCK_MONOTONIC, &ts);
-	return ts_to_abstime(&ts) + dsp_offset;
-}
-
-int hrt_set_absolute_time_offset(int32_t time_diff_us)
-{
-	dsp_offset = time_diff_us;
-	return 0;
-}
-
-/*
- * Convert a timespec to absolute time.
- */
-hrt_abstime ts_to_abstime(const struct timespec *ts)
-{
-	hrt_abstime	result;
-
-	result = (hrt_abstime)(ts->tv_sec) * 1000000;
-	result += ts->tv_nsec / 1000;
-
-	return result;
-}
-
-/*
- * Compute the delta between a timestamp taken in the past
- * and now.
- *
- * This function is safe to use even if the timestamp is updated
- * by an interrupt during execution.
- */
-hrt_abstime hrt_elapsed_time_atomic(const volatile hrt_abstime *then)
-{
-	// This is not atomic as the value on the application layer of POSIX is limited.
-	hrt_abstime delta = hrt_absolute_time() - *then;
-	return delta;
-}
-
-/*
- * Store the absolute time in an interrupt-safe fashion.
- *
- * This function ensures that the timestamp cannot be seen half-written by an interrupt handler.
- */
-void hrt_store_absolute_time(volatile hrt_abstime *t)
-{
-	*t = hrt_absolute_time();
-}
-
-/*
- * If this returns true, the entry has been invoked and removed from the callout list,
- * or it has never been entered.
- *
- * Always returns false for repeating callouts.
- */
-bool	hrt_called(struct hrt_call *entry)
-{
-	return (entry->deadline == 0);
-}
-
-/*
- * Remove the entry from the callout list.
- */
-void	hrt_cancel(struct hrt_call *entry)
-{
-	hrt_lock();
-	sq_rem(&entry->link, &callout_queue);
-	entry->deadline = 0;
-
-	/* if this is a periodic call being removed by the callout, prevent it from
-	 * being re-entered when the callout returns.
-	 */
-	entry->period = 0;
-	hrt_unlock();
-	// endif
-}
-
-static void hrt_latency_update()
-{
-	uint16_t latency = latency_actual - latency_baseline;
-	unsigned	index;
-
-	/* bounded buckets */
-	for (index = 0; index < LATENCY_BUCKET_COUNT; index++) {
-		if (latency <= latency_buckets[index]) {
-			latency_counters[index]++;
-			return;
-		}
-	}
-
-	/* catch-all at the end */
-	latency_counters[index]++;
-}
-
-/*
- * initialise a hrt_call structure
- */
-void	hrt_call_init(struct hrt_call *entry)
-{
-	memset(entry, 0, sizeof(*entry));
-}
-
-/*
- * delay a hrt_call_every() periodic call by the given number of
- * microseconds. This should be called from within the callout to
- * cause the callout to be re-scheduled for a later time. The periodic
- * callouts will then continue from that new base time at the
- * previously specified period.
- */
-void	hrt_call_delay(struct hrt_call *entry, hrt_abstime delay)
-{
-	entry->deadline = hrt_absolute_time() + delay;
-}
-
-/*
- * Initialise the HRT.
- */
-void	hrt_init()
-{
-	sq_init(&callout_queue);
-
-	int sem_ret = px4_sem_init(&_hrt_lock, 0, 1);
-
-	if (sem_ret) {
-		PX4_ERR("SEM INIT FAIL: %s", strerror(errno));
-	}
-
-	memset(&_hrt_work, 0, sizeof(_hrt_work));
-}
-
-static void
-hrt_call_enter(struct hrt_call *entry)
-{
-	struct hrt_call	*call, *next;
-
-	call = (struct hrt_call *)sq_peek(&callout_queue);
-
-	if ((call == nullptr) || (entry->deadline < call->deadline)) {
-		sq_addfirst(&entry->link, &callout_queue);
-		//if (call != nullptr) PX4_INFO("call enter at head, reschedule (%lu %lu)", entry->deadline, call->deadline);
-		/* we changed the next deadline, reschedule the timer event */
-		hrt_call_reschedule();
-
-	} else {
-		do {
-			next = (struct hrt_call *)sq_next(&call->link);
-
-			if ((next == nullptr) || (entry->deadline < next->deadline)) {
-				//lldbg("call enter after head\n");
-				sq_addafter(&call->link, &entry->link, &callout_queue);
-				break;
-			}
-		} while ((call = next) != nullptr);
-	}
-}
-
-/**
- * Timer interrupt handler
- *
- * This routine simulates a timer interrupt handler
- */
-static void
-hrt_tim_isr(void *p)
-{
-	/* grab the timer for latency tracking purposes */
-	latency_actual = hrt_absolute_time();
-
-	/* do latency calculations */
-	hrt_latency_update();
-
-	/* run any callouts that have met their deadline */
-	hrt_call_invoke();
-
-	hrt_lock();
-
-	/* and schedule the next interrupt */
-	hrt_call_reschedule();
-
-	hrt_unlock();
-}
-
-/**
- * Reschedule the next timer interrupt.
- *
- * This routine must be called with interrupts disabled.
- */
-static void
-hrt_call_reschedule()
-{
-	hrt_abstime	now = hrt_absolute_time();
-	hrt_abstime	delay = HRT_INTERVAL_MAX;
-	struct hrt_call	*next = (struct hrt_call *)sq_peek(&callout_queue);
-	hrt_abstime	deadline = now + HRT_INTERVAL_MAX;
-
-	/*
-	 * Determine what the next deadline will be.
-	 *
-	 * Note that we ensure that this will be within the counter
-	 * period, so that when we truncate all but the low 16 bits
-	 * the next time the compare matches it will be the deadline
-	 * we want.
-	 *
-	 * It is important for accurate timekeeping that the compare
-	 * interrupt fires sufficiently often that the base_time update in
-	 * hrt_absolute_time runs at least once per timer period.
-	 */
-	if (next != nullptr) {
-		//lldbg("entry in queue\n");
-		if (next->deadline <= (now + HRT_INTERVAL_MIN)) {
-			//lldbg("pre-expired\n");
-			/* set a minimal deadline so that we call ASAP */
-			delay = HRT_INTERVAL_MIN;
-
-		} else if (next->deadline < deadline) {
-			//lldbg("due soon\n");
-			delay = next->deadline - now;
-		}
-	}
-
-	/* set the new compare value and remember it for latency tracking */
-	latency_baseline = now + delay;
-
-	// There is no timer ISR, so simulate one by putting an event on the
-	// high priority work queue
-
-	// Remove the existing expiry and update with the new expiry
-	hrt_work_cancel(&_hrt_work);
-
-	hrt_work_queue(&_hrt_work, (worker_t)&hrt_tim_isr, nullptr, delay);
-}
-
-static void
-hrt_call_internal(struct hrt_call *entry, hrt_abstime deadline, hrt_abstime interval, hrt_callout callout, void *arg)
-{
-	PX4_DEBUG("hrt_call_internal deadline=%lu interval = %lu", deadline, interval);
-	hrt_lock();
-
-	//PX4_INFO("hrt_call_internal after lock");
-	/* if the entry is currently queued, remove it */
-	/* note that we are using a potentially uninitialised
-	   entry->link here, but it is safe as sq_rem() doesn't
-	   dereference the passed node unless it is found in the
-	   list. So we potentially waste a bit of time searching the
-	   queue for the uninitialised entry->link but we don't do
-	   anything actually unsafe.
-	*/
-	if (entry->deadline != 0) {
-		sq_rem(&entry->link, &callout_queue);
-	}
-
-	entry->deadline = deadline;
-	entry->period = interval;
-	entry->callout = callout;
-	entry->arg = arg;
-
-	hrt_call_enter(entry);
-	hrt_unlock();
-}
-
-/*
- * Call callout(arg) after delay has elapsed.
- *
- * If callout is nullptr, this can be used to implement a timeout by testing the call
- * with hrt_called().
- */
-void	hrt_call_after(struct hrt_call *entry, hrt_abstime delay, hrt_callout callout, void *arg)
-{
-	//printf("hrt_call_after\n");
-	hrt_call_internal(entry,
-			  hrt_absolute_time() + delay,
-			  0,
-			  callout,
-			  arg);
-}
-
-/*
- * Call callout(arg) after delay, and then after every interval.
- *
- * Note thet the interval is timed between scheduled, not actual, call times, so the call rate may
- * jitter but should not drift.
- */
-void	hrt_call_every(struct hrt_call *entry, hrt_abstime delay, hrt_abstime interval, hrt_callout callout, void *arg)
-{
-	hrt_call_internal(entry,
-			  hrt_absolute_time() + delay,
-			  interval,
-			  callout,
-			  arg);
-}
-
-/*
- * Call callout(arg) at absolute time calltime.
- */
-void	hrt_call_at(struct hrt_call *entry, hrt_abstime calltime, hrt_callout callout, void *arg)
-{
-	hrt_call_internal(entry, calltime, 0, callout, arg);
-}
-
-static void
-hrt_call_invoke()
-{
-	struct hrt_call	*call;
-	hrt_abstime deadline;
-
-	hrt_lock();
-
-	while (true) {
-		/* get the current time */
-		hrt_abstime now = hrt_absolute_time();
-
-		call = (struct hrt_call *)sq_peek(&callout_queue);
-
-		if (call == nullptr) {
-			break;
-		}
-
-		if (call->deadline > now) {
-			break;
-		}
-
-		sq_rem(&call->link, &callout_queue);
-		//PX4_INFO("call pop");
-
-		/* save the intended deadline for periodic calls */
-		deadline = call->deadline;
-
-		/* zero the deadline, as the call has occurred */
-		call->deadline = 0;
-
-		/* invoke the callout (if there is one) */
-		if (call->callout) {
-			// Unlock so we don't deadlock in callback
-			hrt_unlock();
-
-			//PX4_INFO("call %p: %p(%p)", call, call->callout, call->arg);
-			call->callout(call->arg);
-
-			hrt_lock();
-		}
-
-		/* if the callout has a non-zero period, it has to be re-entered */
-		if (call->period != 0) {
-			// re-check call->deadline to allow for
-			// callouts to re-schedule themselves
-			// using hrt_call_delay()
-			if (call->deadline <= now) {
-				call->deadline = deadline + call->period;
-				//PX4_INFO("call deadline set to %lu now=%lu", call->deadline,  now);
-			}
-
-			hrt_call_enter(call);
-		}
-	}
-
-	hrt_unlock();
-}
-
-void abstime_to_ts(struct timespec *ts, hrt_abstime abstime)
-{
-	ts->tv_sec = abstime / 1000000;
-	abstime -= ts->tv_sec * 1000000;
-	ts->tv_nsec = abstime * 1000;
-}

platforms/qurt/src/px4/common/get_commands.h

@@ -1,48 +0,0 @@
-/****************************************************************************
- * 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.
- *
- ****************************************************************************/
-/**
- * @file get_commands.cpp
- * functions to call to run the set of startup commands
- *
- * @author Mark Charlebois <charlebm@gmail.com>
- */
-
-#pragma once
-
-__BEGIN_DECLS
-// The commands to run are specified in a target file: commands_<target>.c
-extern const char *get_commands(void);
-
-// Enable external library hook
-void qurt_external_hook(void) __attribute__((weak));
-__END_DECLS
-

platforms/qurt/src/px4/common/include/px4_platform/micro_hal.h

@@ -1,36 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2019 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.
- *
- ****************************************************************************/
-#pragma once
-
-#include <px4_platform/micro_hal.h>
-

platforms/qurt/src/px4/common/lib_crc32.c

@@ -1,125 +0,0 @@
-/************************************************************************************************
- * libc/misc/lib_crc32.c
- *
- * This file is a part of NuttX:
- *
- *   Copyright (C) 2010-2011 Gregory Nutt. All rights reserved.
- *
- * The logic in this file was developed by Gary S. Brown:
- *
- *   COPYRIGHT (C) 1986 Gary S. Brown.  You may use this program, or code or tables
- *   extracted from it, as desired without restriction.
- *
- * First, the polynomial itself and its table of feedback terms.  The polynomial is:
- *
- *    X^32+X^26+X^23+X^22+X^16+X^12+X^11+X^10+X^8+X^7+X^5+X^4+X^2+X^1+X^0
- *
- * Note that we take it "backwards" and put the highest-order term in the lowest-order bit.
- * The X^32 term is "implied"; the LSB is the X^31 term, etc.  The X^0 term (usually shown
- * as "+1") results in the MSB being 1
- *
- * Note that the usual hardware shift register implementation, which is what we're using
- * (we're merely optimizing it by doing eight-bit chunks at a time) shifts bits into the
- * lowest-order term.  In our implementation, that means shifting towards the right.  Why
- * do we do it this way?  Because the calculated CRC must be transmitted in order from
- * highest-order term to lowest-order term.  UARTs transmit characters in order from LSB
- * to MSB.  By storing the CRC this way we hand it to the UART in the order low-byte to
- * high-byte; the UART sends each low-bit to hight-bit; and the result is transmission bit
- * by bit from highest- to lowest-order term without requiring any bit shuffling on our
- * part.  Reception works similarly
- *
- * The feedback terms table consists of 256, 32-bit entries.  Notes
- *
- * - The table can be generated at runtime if desired; code to do so is shown later.  It
- *   might not be obvious, but the feedback terms simply represent the results of eight
- *   shift/xor operations for all combinations of data and CRC register values
- *
- * - The values must be right-shifted by eight bits by the updcrc logic; the shift must
- *   be u_(bring in zeroes).  On some hardware you could probably optimize the shift in
- *   assembler by using byte-swap instructions polynomial $edb88320
-  ************************************************************************************************/
-
-/************************************************************************************************
- * Included Files
- ************************************************************************************************/
-
-#include <sys/types.h>
-#include <stdint.h>
-#include <crc32.h>
-
-// Needed for Linux
-#define FAR
-
-/************************************************************************************************
- * Private Data
- ************************************************************************************************/
-
-static const uint32_t crc32_tab[] = {
-	0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f, 0xe963a535, 0x9e6495a3,
-	0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988, 0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91,
-	0x1db71064, 0x6ab020f2, 0xf3b97148, 0x84be41de, 0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7,
-	0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec, 0x14015c4f, 0x63066cd9, 0xfa0f3d63, 0x8d080df5,
-	0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172, 0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b,
-	0x35b5a8fa, 0x42b2986c, 0xdbbbc9d6, 0xacbcf940, 0x32d86ce3, 0x45df5c75, 0xdcd60dcf, 0xabd13d59,
-	0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116, 0x21b4f4b5, 0x56b3c423, 0xcfba9599, 0xb8bda50f,
-	0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924, 0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d,
-	0x76dc4190, 0x01db7106, 0x98d220bc, 0xefd5102a, 0x71b18589, 0x06b6b51f, 0x9fbfe4a5, 0xe8b8d433,
-	0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818, 0x7f6a0dbb, 0x086d3d2d, 0x91646c97, 0xe6635c01,
-	0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e, 0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457,
-	0x65b0d9c6, 0x12b7e950, 0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65,
-	0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2, 0x4adfa541, 0x3dd895d7, 0xa4d1c46d, 0xd3d6f4fb,
-	0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0, 0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9,
-	0x5005713c, 0x270241aa, 0xbe0b1010, 0xc90c2086, 0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f,
-	0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, 0x59b33d17, 0x2eb40d81, 0xb7bd5c3b, 0xc0ba6cad,
-	0xedb88320, 0x9abfb3b6, 0x03b6e20c, 0x74b1d29a, 0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683,
-	0xe3630b12, 0x94643b84, 0x0d6d6a3e, 0x7a6a5aa8, 0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1,
-	0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe, 0xf762575d, 0x806567cb, 0x196c3671, 0x6e6b06e7,
-	0xfed41b76, 0x89d32be0, 0x10da7a5a, 0x67dd4acc, 0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5,
-	0xd6d6a3e8, 0xa1d1937e, 0x38d8c2c4, 0x4fdff252, 0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b,
-	0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60, 0xdf60efc3, 0xa867df55, 0x316e8eef, 0x4669be79,
-	0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236, 0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f,
-	0xc5ba3bbe, 0xb2bd0b28, 0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7, 0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d,
-	0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a, 0x9c0906a9, 0xeb0e363f, 0x72076785, 0x05005713,
-	0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38, 0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21,
-	0x86d3d2d4, 0xf1d4e242, 0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777,
-	0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c, 0x8f659eff, 0xf862ae69, 0x616bffd3, 0x166ccf45,
-	0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2, 0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db,
-	0xaed16a4a, 0xd9d65adc, 0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9,
-	0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605, 0xcdd70693, 0x54de5729, 0x23d967bf,
-	0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94, 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d
-};
-
-/************************************************************************************************
- * Public Functions
- ************************************************************************************************/
-/************************************************************************************************
- * Name: crc32part
- *
- * Description:
- *   Continue CRC calculation on a part of the buffer.
- *
- ************************************************************************************************/
-
-uint32_t crc32part(FAR const uint8_t *src, size_t len, uint32_t crc32val)
-{
-	size_t i;
-
-	for (i = 0;  i < len;  i++) {
-		crc32val = crc32_tab[(crc32val ^ src[i]) & 0xff] ^ (crc32val >> 8);
-	}
-
-	return crc32val;
-}
-
-/************************************************************************************************
- * Name: crc32
- *
- * Description:
- *   Return a 32-bit CRC of the contents of the 'src' buffer, length 'len'
- *
- ************************************************************************************************/
-
-uint32_t crc32(FAR const uint8_t *src, size_t len)
-{
-	return crc32part(src, len, 0);
-}

platforms/qurt/src/px4/common/main.cpp

@@ -1,250 +0,0 @@
-/****************************************************************************
- * Copyright (C) 2015-2016 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.
- *
- ****************************************************************************/
-/**
- * @file main.cpp
- *
- * Basic shell to execute builtin "apps" on QURT.
- *
- * @author Mark Charlebois <charlebm@gmail.com>
- * @author Julian Oes <julian@oes.ch>
- */
-
-#include <px4_platform_common/tasks.h>
-#include <px4_platform_common/time.h>
-#include <px4_platform_common/posix.h>
-#include <px4_platform_common/init.h>
-#include <px4_platform_common/defines.h>
-#include <dspal_platform.h>
-#include <vector>
-#include <string>
-#include <map>
-#include <stdio.h>
-#include <stdlib.h>
-
-#include "get_commands.h"
-#include "apps.h"
-
-#define MAX_ARGS 8 // max number of whitespace separated args after app name
-
-
-static px4_task_t g_dspal_task = -1;
-
-__BEGIN_DECLS
-// The commands to run are specified in a target file: commands_<target>.c
-extern const char *get_commands(void);
-
-// Enable external library hook
-void qurt_external_hook(void) __attribute__((weak));
-__END_DECLS
-
-void qurt_external_hook(void)
-{
-}
-
-static void run_cmd(apps_map_type &apps, const std::vector<std::string> &appargs)
-{
-	// command is appargs[0]
-	std::string command = appargs[0];
-
-	//replaces app.find with iterator code to avoid null pointer exception
-	for (apps_map_type::iterator it = apps.begin(); it != apps.end(); ++it)
-		if (it->first == command) {
-			// one for command name, one for null terminator
-			const char *arg[MAX_ARGS + 2];
-
-			unsigned int i = 0;
-
-			if (appargs.size() > MAX_ARGS + 1) {
-				PX4_ERR("%d too many arguments in run_cmd", appargs.size() - (MAX_ARGS + 1));
-				return;
-			}
-
-			while (i < appargs.size() && appargs[i].c_str()[0] != '\0') {
-				arg[i] = (char *)appargs[i].c_str();
-				PX4_DEBUG("  arg%d = '%s'\n", i, arg[i]);
-				++i;
-			}
-
-			arg[i] = (char *)0;
-
-			//PX4_DEBUG_PRINTF(i);
-			if (apps[command] == NULL) {
-				PX4_ERR("Null function !!\n");
-
-			} else {
-				apps[command](i, (char **)arg);
-				break;
-			}
-
-		}
-}
-
-void eat_whitespace(const char *&b, int &i)
-{
-	// Eat whitespace
-	while (b[i] == ' ' || b[i] == '\t') { ++i; }
-
-	b = &b[i];
-	i = 0;
-}
-
-static void process_commands(apps_map_type &apps, const char *cmds)
-{
-	std::vector<std::string> appargs;
-	int i = 0;
-	const char *b = cmds;
-	char arg[256];
-
-	// Eat leading whitespace
-	eat_whitespace(b, i);
-
-	for (;;) {
-		// End of command line
-		if (b[i] == '\n' || b[i] == '\0') {
-			strncpy(arg, b, i);
-			arg[i] = '\0';
-			appargs.push_back(arg);
-
-			// If we have a command to run
-			if (appargs.size() > 0) {
-				PX4_DEBUG("Processing command: %s", appargs[0].c_str());
-
-				for (int ai = 1; ai < (int)appargs.size(); ai++) {
-					PX4_DEBUG("   > arg: %s", appargs[ai].c_str());
-				}
-
-				run_cmd(apps, appargs);
-			}
-
-			appargs.clear();
-
-			if (b[i] == '\n') {
-				eat_whitespace(b, ++i);
-				continue;
-
-			} else {
-				break;
-			}
-		}
-
-		// End of arg
-		else if (b[i] == ' ') {
-			strncpy(arg, b, i);
-			arg[i] = '\0';
-			appargs.push_back(arg);
-			eat_whitespace(b, ++i);
-			continue;
-		}
-
-		++i;
-	}
-}
-
-namespace px4
-{
-extern void init_once(void);
-};
-
-__BEGIN_DECLS
-int dspal_main(int argc, char *argv[]);
-__END_DECLS
-
-
-const char *get_commands()
-{
-	// All that needs to be started automatically on the DSP side
-	// are uorb and qshell. After that, everything else can get
-	// started from the main startup script on the Linux side.
-	static const char *commands = "qshell start\n";
-
-	return commands;
-}
-
-
-int dspal_entry(int argc, char *argv[])
-{
-	PX4_INFO("In dspal_entry");
-	apps_map_type apps;
-	init_app_map(apps);
-	px4::init_once();
-	px4::init(argc, (char **)argv, "px4");
-	process_commands(apps, get_commands());
-	sleep(1); // give time for all commands to execute before starting external function
-
-	if (qurt_external_hook) {
-		qurt_external_hook();
-	}
-
-	for (;;) {
-		sleep(1);
-	}
-
-	return 0;
-}
-
-static void usage()
-{
-	PX4_INFO("Usage: dspal {start |stop}");
-}
-
-
-extern "C" {
-
-	int dspal_main(int argc, char *argv[])
-	{
-		int ret = 0;
-
-		if (argc == 2 && strcmp(argv[1], "start") == 0) {
-			g_dspal_task = px4_task_spawn_cmd("dspal",
-							  SCHED_DEFAULT,
-							  SCHED_PRIORITY_MAX - 5,
-							  1500,
-							  dspal_entry,
-							  argv);
-
-		} else if (argc == 2 && strcmp(argv[1], "stop") == 0) {
-			if (g_dspal_task < 0) {
-				PX4_WARN("start up thread not running");
-
-			} else {
-				px4_task_delete(g_dspal_task);
-				g_dspal_task = -1;
-			}
-
-		} else {
-			usage();
-			ret = -1;
-		}
-
-		return ret;
-	}
-}

platforms/qurt/src/px4/common/px4_init.cpp

@@ -1,54 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2019 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_platform_common/init.h>
-#include <px4_platform_common/px4_config.h>
-#include <px4_platform_common/defines.h>
-#include <drivers/drv_hrt.h>
-#include <lib/parameters/param.h>
-#include <px4_platform_common/px4_work_queue/WorkQueueManager.hpp>
-
-int px4_platform_init()
-{
-	hrt_init();
-
-	param_init();
-
-	px4::WorkQueueManagerStart();
-
-	uorb_start();
-
-	//px4_log_initialize();
-
-	return PX4_OK;
-}

platforms/qurt/src/px4/common/px4_qurt_impl.cpp

@@ -1,168 +0,0 @@
-/****************************************************************************
- *
- *   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.
- *
- ****************************************************************************/
-
-/**
- * @file px4_linux_impl.cpp
- *
- * PX4 Middleware Wrapper Linux Implementation
- */
-
-#include <px4_platform_common/defines.h>
-#include <px4_platform_common/log.h>
-#include <px4_platform_common/init.h>
-#include <px4_platform_common/tasks.h>
-#include <px4_platform_common/workqueue.h>
-#include <dataman/dataman.h>
-#include <stdint.h>
-#include <stdio.h>
-#include <signal.h>
-#include <errno.h>
-#include <unistd.h>
-#include <semaphore.h>
-#include <parameters/param.h>
-#include "hrt_work.h"
-
-//extern pthread_t _shell_task_id;
-
-
-__BEGIN_DECLS
-extern uint64_t get_ticks_per_us();
-
-//long PX4_TICKS_PER_SEC = 1000L;
-
-unsigned int sleep(unsigned int sec)
-{
-	for (unsigned int i = 0; i < sec; i++) {
-		usleep(1000000);
-	}
-
-	return 0;
-}
-
-extern void hrt_init(void);
-
-#if 0
-void qurt_log(const char *fmt, ...)
-{
-	va_list	args;
-	va_start(args, fmt);
-	printf(fmt, args);
-	printf("n");
-	va_end(args);
-}
-#endif
-
-//extern int _posix_init(void);
-
-__END_DECLS
-
-extern struct wqueue_s gwork[NWORKERS];
-
-
-namespace px4
-{
-
-void init_once(void);
-
-void init_once(void)
-{
-	// Required for QuRT
-	//_posix_init();
-
-//	_shell_task_id = pthread_self();
-//	PX4_INFO("Shell id is %lu", _shell_task_id);
-
-	work_queues_init();
-	hrt_work_queue_init();
-
-	px4_platform_init();
-}
-
-void init(int argc, char *argv[], const char *app_name)
-{
-	PX4_DEBUG("App name: %s\n", app_name);
-}
-
-}
-
-/** Retrieve from the data manager store */
-ssize_t
-dm_read(
-	dm_item_t item,                 /* The item type to retrieve */
-	unsigned index,                 /* The index of the item */
-	void *buffer,                   /* Pointer to caller data buffer */
-	size_t buflen                   /* Length in bytes of data to retrieve */
-)
-{
-	return 0;
-}
-
-/** write to the data manager store */
-ssize_t
-dm_write(
-	dm_item_t  item,                /* The item type to store */
-	unsigned index,                 /* The index of the item */
-	dm_persitence_t persistence,    /* The persistence level of this item */
-	const void *buffer,             /* Pointer to caller data buffer */
-	size_t buflen                   /* Length in bytes of data to retrieve */
-)
-{
-	return 0;
-}
-
-size_t strnlen(const char *s, size_t maxlen)
-{
-	size_t i = 0;
-
-	while (s[i] != '\0' && i < maxlen) {
-		++i;
-	}
-
-	return i;
-}
-
-int fprintf(FILE *stream, const char *format, ...)
-{
-	PX4_ERR("Error: Calling unresolved symbol stub:[%s(%s,...)]", __FUNCTION__, format);
-	return 0;
-}
-
-int fputc(int c, FILE *stream)
-{
-	return c;
-}
-
-int putchar(int character)
-{
-	return character;
-}

platforms/qurt/src/px4/common/qurt_stubs.c

@@ -1,155 +0,0 @@
-/****************************************************************************
- *
- *   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.
- *
- ****************************************************************************/
-#include <px4_platform_common/log.h>
-#include <semaphore.h>
-
-void block_indefinite(void);
-void _Read_uleb(void);
-void _Parse_fde_instr(void);
-void _Parse_csd(void);
-void _Valbytes(void);
-void _Get_eh_data(void);
-void _Parse_lsda(void);
-void __cxa_guard_release(void);
-void _Read_enc_ptr(void);
-void _Read_sleb(void);
-void __cxa_guard_acquire(void);
-void __cxa_pure_virtual(void);
-
-void block_indefinite(void)
-{
-	sem_t forever;
-	sem_init(&forever, 0, 0);
-	sem_wait(&forever);
-}
-
-void _Read_uleb(void)
-{
-	PX4_WARN("Error: Calling unresolved symbol stub[%s]", __FUNCTION__);
-	block_indefinite();
-}
-
-void _Parse_fde_instr(void)
-{
-	PX4_WARN("Error: Calling unresolved symbol stub[%s]", __FUNCTION__);
-	block_indefinite();
-}
-
-void _Parse_csd(void)
-{
-	PX4_WARN("Error: Calling unresolved symbol stub[%s]", __FUNCTION__);
-	block_indefinite();
-}
-
-void _Valbytes(void)
-{
-	PX4_WARN("Error: Calling unresolved symbol stub[%s]", __FUNCTION__);
-	block_indefinite();
-}
-
-void _Get_eh_data(void)
-{
-	PX4_WARN("Error: Calling unresolved symbol stub[%s]", __FUNCTION__);
-	block_indefinite();
-}
-
-void _Parse_lsda(void)
-{
-	PX4_WARN("Error: Calling unresolved symbol stub[%s]", __FUNCTION__);
-	block_indefinite();
-}
-
-void __cxa_guard_release(void)
-{
-	PX4_WARN("Error: Calling unresolved symbol stub[%s]", __FUNCTION__);
-	block_indefinite();
-}
-
-void _Read_enc_ptr(void)
-{
-	PX4_WARN("Error: Calling unresolved symbol stub[%s]", __FUNCTION__);
-	block_indefinite();
-}
-
-void _Read_sleb(void)
-{
-	PX4_WARN("Error: Calling unresolved symbol stub[%s]", __FUNCTION__);
-	block_indefinite();
-}
-
-void __cxa_guard_acquire(void)
-{
-	PX4_WARN("Error: Calling unresolved symbol stub[%s]", __FUNCTION__);
-	block_indefinite();
-}
-
-void __cxa_pure_virtual()
-{
-	PX4_WARN("Error: Calling unresolved symbol stub[%s]", __FUNCTION__);
-	block_indefinite();
-}
-
-float _Stof(const char *p0, char **p1, long p2)
-{
-	PX4_WARN("Error: Calling unresolved symbol stub[%s]", __FUNCTION__);
-	block_indefinite();
-	return 0;
-}
-
-void *bsearch(const void *key, const void *ptr, size_t count, size_t size, int (*comp)(const void *, const void *))
-{
-	const char *first = (const char *)ptr;
-
-	while (count > 1) {
-		size_t m = count / 2;
-		const char *middle_element = first + m * size;
-		int cmp_res = comp(middle_element, key);
-
-		if (cmp_res > 0) {
-			count = m;
-
-		} else if (cmp_res == 0) {
-			return (void *)middle_element;
-
-		} else {
-			first = middle_element + size;
-			count = count - m - 1;
-		}
-	}
-
-	if (count && comp(first, key) == 0) {
-		return (void *)first;
-	}
-
-	return NULL;
-}

platforms/qurt/src/px4/common/shmem_qurt.cpp

@@ -1,344 +0,0 @@
-/****************************************************************************
- *
- * Copyright (c) 2015 Vijay Venkatraman. 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_platform_common/defines.h>
-#include <string.h>
-#include <stdbool.h>
-#include <stdlib.h>
-#include <fcntl.h>
-#include <unistd.h>
-#include <errno.h>
-#include <sys/stat.h>
-#include <atomic_ops.h>
-
-#include <parameters/param.h>
-
-#include <px4_platform_common/shmem.h>
-#include <drivers/drv_hrt.h>
-
-//#define SHMEM_DEBUG
-//#define PARAM_LOCK_DEBUG
-
-static atomic_word_t mem_lock;
-
-static unsigned char *map_base, *virt_addr;
-static uint64_t update_from_shmem_prev_time = 0, update_from_shmem_current_time = 0;
-static unsigned char krait_changed_index[MAX_SHMEM_PARAMS / 8 + 1];
-
-struct shmem_info *shmem_info_p;
-
-// Small helper to get log2 for ints
-static unsigned log2_for_int(unsigned v)
-{
-	unsigned r = 0;
-
-	while (v >>= 1) {
-		++r;
-	}
-
-	return r;
-}
-
-struct param_wbuf_s {
-	union param_value_u val;
-	param_t param;
-	bool unsaved;
-};
-extern struct param_wbuf_s *param_find_changed(param_t param);
-
-int get_shmem_lock(const char *caller_file_name, int caller_line_number)
-{
-	unsigned int i = 0;
-
-#ifdef PARAM_LOCK_DEBUG
-	PX4_INFO("lock value %d before get from %s, line: %d\n", mem_lock.value, strrchr(caller_file_name, '/'),
-		 caller_line_number);
-#endif
-
-	while (!atomic_compare_and_set(&mem_lock, 1, 0)) {
-		i++;
-		usleep(1000);
-
-		if (i > 100) {
-			break;
-		}
-	}
-
-	if (i > 100) {
-		PX4_INFO("Could not get lock, file name: %s, line number: %d.\n",
-			 strrchr(caller_file_name, '/'), caller_line_number);
-		return -1;
-
-	} else {
-		PX4_DEBUG("Lock acquired, file name: %s, line number: %d\n",
-			  caller_file_name, caller_line_number);
-	}
-
-	return 0; //got the lock
-
-}
-
-void release_shmem_lock(const char *caller_file_name, int caller_line_number)
-{
-	atomic_set(&mem_lock, 1);
-
-#ifdef PARAM_LOCK_DEBUG
-	PX4_INFO("release lock, file name: %s, line number: %d.\n",
-		 strrchr(caller_file_name, '/'), caller_line_number);
-#endif
-
-	return;
-}
-
-void init_shared_memory(void)
-{
-	int i;
-
-	if (shmem_info_p) {
-		return;
-	}
-
-	//virt_addr = map_memory(MAP_ADDRESS);
-	map_base = (unsigned char *)calloc(MAP_SIZE, 1); //16KB
-
-	if (map_base == NULL) {
-		PX4_INFO("adsp memory malloc failed\n");
-		return;
-	}
-
-	virt_addr = map_base;
-	shmem_info_p = (struct shmem_info *) virt_addr;
-
-	atomic_init(&mem_lock, 1);
-
-	for (i = 0; i < MAX_SHMEM_PARAMS / 8 + 1; i++) {
-		shmem_info_p->krait_changed_index[i] = 0;
-	}
-
-	PX4_INFO("adsp memory mapped\n");
-}
-
-void copy_params_to_shmem(const param_info_s *param_info_base)
-{
-	param_t param;
-	unsigned int i;
-
-	if (get_shmem_lock(__FILE__, __LINE__) != 0) {
-		PX4_INFO("Could not get shmem lock\n");
-		return;
-	}
-
-	//else PX4_INFO("Got lock\n");
-
-	for (param = 0; param < param_count(); param++) {
-		//{PX4_INFO("writing to offset %d\n", (unsigned char*)(shmem_info_p->adsp_params[param].name)-(unsigned char*)shmem_info_p);}
-		struct param_wbuf_s *s = param_find_changed(param);
-
-		if (s == NULL) {
-			shmem_info_p->params_val[param] = param_info_base[param].val;
-		}
-
-		else {
-			shmem_info_p->params_val[param] = s->val;
-		}
-
-#ifdef SHMEM_DEBUG
-
-		if (param_type(param) == PARAM_TYPE_INT32) {
-			PX4_INFO("%d: written %d for param %s to shared mem", param, shmem_info_p->params_val[param].i, param_name(param));
-
-		} else if (param_type(param) == PARAM_TYPE_FLOAT) {
-			PX4_INFO("%d: written %f for param %s to shared mem", param, shmem_info_p->params_val[param].f, param_name(param));
-		}
-
-#endif
-	}
-
-	for (i = 0; i < MAX_SHMEM_PARAMS / 8 + 1; i++) {
-		shmem_info_p->adsp_changed_index[i] = 0;
-		krait_changed_index[i] = 0;
-	}
-
-	release_shmem_lock(__FILE__, __LINE__);
-	//PX4_INFO("Released lock\n");
-
-}
-
-/*update value and param's change bit in shared memory*/
-void update_to_shmem(param_t param, union param_value_u value)
-{
-	unsigned int byte_changed, bit_changed;
-
-	if (!handle_in_range(param)) {
-		return;
-	}
-
-	if (get_shmem_lock(__FILE__, __LINE__) != 0) {
-		PX4_ERR("Could not get shmem lock\n");
-		return;
-	}
-
-	shmem_info_p->params_val[param] = value;
-
-	byte_changed = param / 8;
-	bit_changed = 1 << param % 8;
-	shmem_info_p->adsp_changed_index[byte_changed] |= bit_changed;
-
-	//PX4_INFO("set %d bit on adsp index[%d] to %d\n", bit_changed, byte_changed, shmem_info_p->adsp_changed_index[byte_changed]);
-
-#ifdef SHMEM_DEBUG
-
-	if (param_type(param) == PARAM_TYPE_INT32) {
-		PX4_INFO("Set value %d for param %s to shmem, set adsp index %d:%d\n", value.i, param_name(param), byte_changed,
-			 bit_changed);
-	}
-
-	else if (param_type(param) == PARAM_TYPE_FLOAT) {
-		PX4_INFO("Set value %f for param %s to shmem, set adsp index %d:%d\n", value.f, param_name(param), byte_changed,
-			 bit_changed);
-	}
-
-#endif
-
-	release_shmem_lock(__FILE__, __LINE__);
-
-}
-
-void update_index_from_shmem(void)
-{
-	unsigned int i;
-	param_t params[MAX_SHMEM_PARAMS / 8 + 1];
-
-	if (get_shmem_lock(__FILE__, __LINE__) != 0) {
-		PX4_ERR("Could not get shmem lock\n");
-		return;
-	}
-
-	for (i = 0; i < MAX_SHMEM_PARAMS / 8 + 1; i++) {
-		// Check if any param has been changed.
-		if (krait_changed_index[i] != shmem_info_p->krait_changed_index[i]) {
-
-			// If a param has changed, we need to find out which one.
-			// From the byte and bit that is different, we can resolve the param number.
-			unsigned bit = log2_for_int(
-					       krait_changed_index[i]
-					       ^ shmem_info_p->krait_changed_index[i]);
-			param_t param_to_get = i * 8 + bit;
-
-			// Update our krait_changed_index as well.
-			krait_changed_index[i] = shmem_info_p->krait_changed_index[i];
-			params[i] = param_to_get;
-
-		} else {
-			params[i] = 0xFFFF;
-		}
-	}
-
-	release_shmem_lock(__FILE__, __LINE__);
-
-	// FIXME: this is a hack but it gets the param so that it gets added
-	// to the local list param_values in param_shmem.c.
-	for (i = 0; i < MAX_SHMEM_PARAMS / 8 + 1; i++) {
-		if (params[i] != 0xFFFF) {
-			int32_t dummy;
-			param_get(params[i], &dummy);
-		}
-	}
-}
-
-static void update_value_from_shmem(param_t param, union param_value_u *value)
-{
-	unsigned int byte_changed, bit_changed;
-
-	if (get_shmem_lock(__FILE__, __LINE__) != 0) {
-		PX4_ERR("Could not get shmem lock\n");
-		return;
-	}
-
-	*value = shmem_info_p->params_val[param];
-
-	/*also clear the index since we are holding the lock*/
-	byte_changed = param / 8;
-	bit_changed = 1 << param % 8;
-	shmem_info_p->krait_changed_index[byte_changed] &= ~bit_changed;
-
-	release_shmem_lock(__FILE__, __LINE__);
-
-#ifdef SHMEM_DEBUG
-
-	if (param_type(param) == PARAM_TYPE_INT32) {
-		PX4_INFO("Got value %d for param %s from shmem, cleared krait index %d:%d\n", value->i, param_name(param), byte_changed,
-			 bit_changed);
-	}
-
-	else if (param_type(param) == PARAM_TYPE_FLOAT) {
-		PX4_INFO("Got value %f for param %s from shmem, cleared krait index %d:%d\n", value->f, param_name(param), byte_changed,
-			 bit_changed);
-	}
-
-#endif
-}
-
-int update_from_shmem(param_t param, union param_value_u *value)
-{
-	unsigned int byte_changed, bit_changed;
-	unsigned int retval = 0;
-
-	if (!handle_in_range(param) || value == NULL) {
-		return retval;
-	}
-
-	update_from_shmem_current_time = hrt_absolute_time();
-
-	if ((update_from_shmem_current_time - update_from_shmem_prev_time)
-	    > 1000000) { //update every 1 second
-		update_from_shmem_prev_time = update_from_shmem_current_time;
-		update_index_from_shmem();
-	}
-
-	byte_changed = param / 8;
-	bit_changed = 1 << param % 8;
-
-	if (krait_changed_index[byte_changed] & bit_changed) {
-		update_value_from_shmem(param, value);
-		krait_changed_index[byte_changed] &= ~bit_changed;
-		retval = 1;
-	}
-
-	//else {PX4_INFO("no change to param %s\n", param_name(param));}
-
-	PX4_DEBUG("%s %d bit on krait changed index[%d]\n",
-		  (retval) ? "cleared" : "unchanged", bit_changed, byte_changed);
-
-	return retval;
-}

platforms/qurt/src/px4/common/stubs/posix.c

@@ -1,159 +0,0 @@
-#include <semaphore.h>
-#include <unistd.h>
-#include <pthread.h>
-#include <signal.h>
-#include <time.h>
-
-int sem_init(sem_t *sem, int pshared, unsigned int value)
-{
-	return 1;
-}
-
-int sem_wait(sem_t *sem)
-{
-	return 1;
-}
-
-int sem_destroy(sem_t *sem)
-{
-	return 1;
-}
-
-int sem_post(sem_t *sem)
-{
-	return 1;
-}
-
-int sem_getvalue(sem_t *sem, int *sval)
-{
-	return 1;
-}
-
-int usleep(useconds_t usec)
-{
-	return 0;
-}
-
-pthread_t pthread_self(void)
-{
-	pthread_t x = 0;
-	return x;
-}
-
-
-int pthread_kill(pthread_t thread, int sig)
-{
-	return 1;
-}
-
-void pthread_exit(void *retval)
-{
-}
-
-int pthread_join(pthread_t thread, void **retval)
-{
-	return 1;
-}
-
-int pthread_cancel(pthread_t thread)
-{
-	return 1;
-}
-int pthread_attr_init(pthread_attr_t *attr)
-{
-	return 1;
-}
-
-int pthread_attr_setstacksize(pthread_attr_t *attr, size_t stacksize)
-{
-	return 1;
-}
-
-int pthread_attr_getstacksize(const pthread_attr_t *attr, size_t *stacksize)
-{
-	return 1;
-}
-
-int pthread_attr_setschedparam(pthread_attr_t *attr, const struct sched_param *param)
-{
-	return 1;
-}
-
-int pthread_create(pthread_t *thread, const pthread_attr_t *attr, void *(*start_routine)(void *), void *arg)
-{
-	return 1;
-}
-int pthread_attr_getschedparam(const pthread_attr_t *attr, struct sched_param *param)
-{
-	return 1;
-}
-
-int pthread_attr_destroy(pthread_attr_t *attr)
-{
-	return 1;
-}
-
-int clock_gettime(clockid_t clk_id, struct timespec *tp)
-{
-	return 1;
-}
-
-int pthread_mutex_lock(pthread_mutex_t *mutex)
-{
-	return 1;
-}
-
-int pthread_mutex_unlock(pthread_mutex_t *mutex)
-{
-	return 1;
-}
-
-int pthread_cond_signal(pthread_cond_t *cond)
-{
-	return 1;
-}
-int pthread_mutex_destroy(pthread_mutex_t *mutex)
-{
-	return 1;
-}
-int pthread_mutex_init(pthread_mutex_t *mutex, const pthread_mutexattr_t *attr)
-{
-	return 1;
-}
-
-int pthread_cond_wait(pthread_cond_t *cond, pthread_mutex_t *mutex)
-{
-	return 1;
-}
-
-int pthread_cond_timedwait(pthread_cond_t *cond, pthread_mutex_t *mutex, const struct timespec *abstime)
-{
-	return 1;
-}
-
-int pthread_cond_init(pthread_cond_t *cond, const pthread_condattr_t *attr)
-{
-	return 1;
-}
-int pthread_mutexattr_init(pthread_mutexattr_t *attr)
-{
-	return -1;
-}
-int pthread_mutexattr_destroy(pthread_mutexattr_t *attr)
-{
-	return -1;
-}
-int pthread_mutexattr_settype(pthread_mutexattr_t *attr, int type)
-{
-	return -1;
-}
-
-int pthread_condattr_init(pthread_condattr_t *attr)
-{
-	return -1;
-}
-
-int fsync(int fd)
-{
-	return -1;
-}

platforms/qurt/src/px4/common/stubs/qurt.c

@@ -1,64 +0,0 @@
-/****************************************************************************
- *
- *   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.
- *
- ****************************************************************************/
-#include <dlfcn.h>
-#include <qurt_log.h>
-#include <dspal_platform.h>
-
-// This code is never run. It is used solely to test linking in the
-// TravisCI build test to make sure all symbols are resolved.
-__EXPORT int _start_main(void);
-
-void HAP_debug(const char *msg, int level, const char *filename, int line)
-{
-}
-
-void HAP_power_request(int a, int b, int c)
-{
-}
-
-int dlinit(int a, char **b)
-{
-	return 1;
-}
-
-int main(int argc, char *argv[])
-{
-	int ret = 0;
-
-	return ret;
-}
-
-int _start_main()
-{
-	return -1;
-}

platforms/qurt/src/px4/common/tasks.cpp

@@ -1,402 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2015-2016 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.
- *
- ****************************************************************************/
-
-/**
- * @file px4_qurt_tasks.c
- * Implementation of existing task API for QURT.
- *
- * @author Mark Charlebois <charlebm@gmail.com>
- */
-
-#include <px4_platform_common/log.h>
-#include <px4_platform_common/posix.h>
-#include <px4_platform_common/workqueue.h>
-#include <px4_platform_common/time.h>
-#include <hrt_work.h>
-#include <drivers/drv_hrt.h>
-#include <unistd.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <errno.h>
-#include <stdbool.h>
-
-#if !defined(__PX4_QURT)
-#include <signal.h>
-#endif
-
-#include <fcntl.h>
-#include <sched.h>
-#include <unistd.h>
-#include <string.h>
-
-#include <sys/stat.h>
-#include <sys/types.h>
-#include <string>
-
-#include <px4_platform_common/tasks.h>
-#include <systemlib/err.h>
-
-#define MAX_CMD_LEN 100
-
-#define PX4_MAX_TASKS 50
-#define SHELL_TASK_ID (PX4_MAX_TASKS+1)
-
-pthread_t _shell_task_id = 0;
-
-struct task_entry {
-	pthread_t pid;
-	std::string name;
-	bool isused;
-	task_entry() : isused(false) {}
-};
-
-static task_entry taskmap[PX4_MAX_TASKS];
-
-typedef struct {
-	px4_main_t entry;
-	int argc;
-	char *argv[];
-	// strings are allocated after the
-} pthdata_t;
-
-static void *entry_adapter(void *ptr)
-{
-	pthdata_t *data;
-	data = (pthdata_t *) ptr;
-
-	data->entry(data->argc, data->argv);
-	//PX4_WARN("Before waiting infinte busy loop");
-	//for( ;; )
-	//{
-	//   volatile int x = 0;
-	//   ++x;
-	// }
-	free(ptr);
-	px4_task_exit(0);
-
-	return NULL;
-}
-
-px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int stack_size, px4_main_t entry,
-			      char *const argv[])
-{
-	struct sched_param param;
-	pthread_attr_t attr;
-	pthread_t task;
-	int rv;
-	int argc = 0;
-	int i;
-	unsigned int len = 0;
-	unsigned long offset;
-	unsigned long structsize;
-	char *p = (char *)argv;
-
-	PX4_DEBUG("Creating %s\n", name);
-	PX4_DEBUG("attr address: 0x%X, param address: 0x%X", &attr, &param);
-
-	// Calculate argc
-	while (p != (char *)0) {
-		p = argv[argc];
-
-		if (p == (char *)0) {
-			break;
-		}
-
-		++argc;
-		len += strlen(p) + 1;
-	}
-
-	structsize = sizeof(pthdata_t) + (argc + 1) * sizeof(char *);
-	pthdata_t *taskdata = nullptr;
-
-	// not safe to pass stack data to the thread creation
-	taskdata = (pthdata_t *)malloc(structsize + len);
-
-	if (taskdata == nullptr) {
-		return -ENOMEM;
-	}
-
-	offset = ((unsigned long)taskdata) + structsize;
-
-	taskdata->entry = entry;
-	taskdata->argc = argc;
-
-	for (i = 0; i < argc; i++) {
-		PX4_DEBUG("arg %d %s\n", i, argv[i]);
-		taskdata->argv[i] = (char *)offset;
-		strcpy((char *)offset, argv[i]);
-		offset += strlen(argv[i]) + 1;
-	}
-
-	// Must add NULL at end of argv
-	taskdata->argv[argc] = (char *)0;
-
-	rv = pthread_attr_init(&attr);
-
-	if (rv != 0) {
-		PX4_WARN("px4_task_spawn_cmd: failed to init thread attrs");
-		return (rv < 0) ? rv : -rv;
-	}
-
-	PX4_DEBUG("stack address after pthread_attr_init: 0x%X", attr.stackaddr);
-	PX4_DEBUG("attr address: 0x%X, param address: 0x%X", &attr, &param);
-	rv = pthread_attr_getschedparam(&attr, &param);
-	PX4_DEBUG("stack address after pthread_attr_getschedparam: 0x%X", attr.stackaddr);
-
-	if (rv != 0) {
-		PX4_WARN("px4_task_spawn_cmd: failed to get thread sched param");
-		return (rv < 0) ? rv : -rv;
-	}
-
-#if 0
-	rv = pthread_attr_setinheritsched(&attr, PTHREAD_EXPLICIT_SCHED);
-
-	if (rv != 0) {
-		PX4_WARN("px4_task_spawn_cmd: failed to set inherit sched");
-		return (rv < 0) ? rv : -rv;
-	}
-
-	rv = pthread_attr_setschedpolicy(&attr, scheduler);
-
-	if (rv != 0) {
-		PX4_WARN("px4_task_spawn_cmd: failed to set sched policy");
-		return (rv < 0) ? rv : -rv;
-	}
-
-#endif
-	size_t fixed_stacksize = -1;
-	pthread_attr_getstacksize(&attr, &fixed_stacksize);
-	PX4_DEBUG("stack size: %d passed stacksize(%d)", fixed_stacksize, stack_size);
-	fixed_stacksize = 8 * 1024;
-	fixed_stacksize = (fixed_stacksize < (size_t)stack_size) ? (size_t)stack_size : fixed_stacksize;
-
-	PX4_DEBUG("setting the thread[%s] stack size to[%d]", name, fixed_stacksize);
-	pthread_attr_setstacksize(&attr, PX4_STACK_ADJUSTED(fixed_stacksize));
-
-	PX4_DEBUG("stack address after pthread_attr_setstacksize: 0x%X", attr.stackaddr);
-	param.sched_priority = priority;
-
-	rv = pthread_attr_setschedparam(&attr, &param);
-
-	if (rv != 0) {
-		PX4_ERR("px4_task_spawn_cmd: failed to set sched param");
-		return (rv < 0) ? rv : -rv;
-	}
-
-	rv = pthread_create(&task, &attr, &entry_adapter, (void *) taskdata);
-
-	if (rv != 0) {
-		PX4_ERR("px4_task_spawn_cmd: pthread_create failed, error: %d", rv);
-		return (rv < 0) ? rv : -rv;
-	}
-
-	for (i = 0; i < PX4_MAX_TASKS; ++i) {
-		if (taskmap[i].isused == false) {
-			taskmap[i].pid = task;
-			taskmap[i].name = name;
-			taskmap[i].isused = true;
-			break;
-		}
-	}
-
-	if (i >= PX4_MAX_TASKS) {
-		return -ENOSPC;
-	}
-
-	return i;
-}
-
-int px4_task_delete(px4_task_t id)
-{
-	int rv = 0;
-	pthread_t pid;
-	PX4_WARN("Called px4_task_delete");
-
-	if (id < PX4_MAX_TASKS && taskmap[id].isused) {
-		pid = taskmap[id].pid;
-
-	} else {
-		return -EINVAL;
-	}
-
-	// If current thread then exit, otherwise cancel
-	if (pthread_self() == pid) {
-		taskmap[id].isused = false;
-		pthread_exit(0);
-
-	} else {
-		rv = pthread_cancel(pid);
-	}
-
-	taskmap[id].isused = false;
-
-	return rv;
-}
-
-void px4_task_exit(int ret)
-{
-	int i;
-	pthread_t pid = pthread_self();
-
-	// Get pthread ID from the opaque ID
-	for (i = 0; i < PX4_MAX_TASKS; ++i) {
-		if (taskmap[i].pid == pid) {
-			taskmap[i].isused = false;
-			break;
-		}
-	}
-
-	if (i >= PX4_MAX_TASKS)  {
-		PX4_ERR("px4_task_exit: self task not found!");
-
-	} else {
-		PX4_DEBUG("px4_task_exit: %s", taskmap[i].name.c_str());
-	}
-
-	//pthread_exit((void *)(unsigned long)ret);
-}
-
-int px4_task_kill(px4_task_t id, int sig)
-{
-	int rv = 0;
-	pthread_t pid;
-	PX4_DEBUG("Called px4_task_kill %d, taskname %s", sig, taskmap[id].name.c_str());
-
-	if (id < PX4_MAX_TASKS && taskmap[id].pid != 0) {
-		pid = taskmap[id].pid;
-
-	} else {
-		return -EINVAL;
-	}
-
-	// If current thread then exit, otherwise cancel
-	rv = pthread_kill(pid, sig);
-
-	return rv;
-}
-
-void px4_show_tasks()
-{
-	int idx;
-	int count = 0;
-
-	PX4_INFO("Active Tasks:");
-
-	for (idx = 0; idx < PX4_MAX_TASKS; idx++) {
-		if (taskmap[idx].isused) {
-			PX4_INFO("   %-10s %d", taskmap[idx].name.c_str(), taskmap[idx].pid);
-			count++;
-		}
-	}
-
-	if (count == 0) {
-		PX4_INFO("   No running tasks");
-	}
-
-}
-
-px4_task_t px4_getpid()
-{
-	pthread_t pid = pthread_self();
-//
-//	if (pid == _shell_task_id)
-//		return SHELL_TASK_ID;
-
-	// Get pthread ID from the opaque ID
-	for (int i = 0; i < PX4_MAX_TASKS; ++i) {
-		if (taskmap[i].isused && taskmap[i].pid == pid) {
-			return i;
-		}
-	}
-
-	return ~0;
-}
-
-
-const char *px4_get_taskname()
-{
-	pthread_t pid = pthread_self();
-
-	for (int i = 0; i < PX4_MAX_TASKS; i++) {
-		if (taskmap[i].isused && taskmap[i].pid == pid) {
-			return taskmap[i].name.c_str();
-		}
-	}
-
-	return "Unknown App";
-}
-
-static void timer_cb(void *data)
-{
-	px4_sem_t *sem = reinterpret_cast<px4_sem_t *>(data);
-
-	sem_post(sem);
-}
-
-int px4_sem_timedwait(px4_sem_t *sem, const struct timespec *ts)
-{
-	work_s _hpwork = {};
-
-	// Get the current time.
-	struct timespec ts_now;
-	px4_clock_gettime(CLOCK_MONOTONIC, &ts_now);
-
-	// We get an absolute time but want to calculate a timeout in us.
-	hrt_abstime timeout_us = ts_to_abstime((struct timespec *)ts) - ts_to_abstime(&ts_now);
-
-	// Create a timer to unblock.
-	hrt_work_queue(&_hpwork, (worker_t)&timer_cb, (void *)sem, timeout_us);
-	sem_wait(sem);
-	hrt_work_cancel(&_hpwork);
-	return 0;
-}
-
-int px4_prctl(int option, const char *arg2, px4_task_t pid)
-{
-	int rv;
-
-	switch (option) {
-	case PR_SET_NAME:
-		// set the threads name - Not supported
-		// rv = pthread_setname_np(pthread_self(), arg2);
-		rv = -1;
-		break;
-
-	default:
-		rv = -1;
-		PX4_WARN("FAILED SETTING TASK NAME");
-		break;
-	}
-
-	return rv;
-}

platforms/qurt/src/px4/generic/CMakeLists.txt

@@ -1,36 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2019 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_CHIP})
-

platforms/qurt/src/px4/generic/generic/CMakeLists.txt

@@ -1,35 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2019 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.
-#
-############################################################################
-
-
-

platforms/qurt/src/px4/generic/generic/include/px4_arch/i2c_hw_description.h

@@ -1,53 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2020 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.
- *
- ****************************************************************************/
-
-#pragma once
-
-#include <px4_platform_common/i2c.h>
-
-
-static inline constexpr px4_i2c_bus_t initI2CBusInternal(int bus)
-{
-	px4_i2c_bus_t ret{};
-	ret.bus = bus;
-	ret.is_external = false;
-	return ret;
-}
-
-static inline constexpr px4_i2c_bus_t initI2CBusExternal(int bus)
-{
-	px4_i2c_bus_t ret{};
-	ret.bus = bus;
-	ret.is_external = true;
-	return ret;
-}

platforms/qurt/src/px4/generic/generic/include/px4_arch/micro_hal.h

@@ -1,36 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2019 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.
- *
- ****************************************************************************/
-#pragma once
-
-#include <px4_platform/micro_hal.h>
-

platforms/qurt/src/px4/generic/generic/include/px4_arch/spi_hw_description.h

@@ -1,59 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2020 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.
- *
- ****************************************************************************/
-
-#pragma once
-
-#include <px4_platform_common/spi.h>
-
-static inline constexpr px4_spi_bus_device_t initSPIDevice(uint8_t devid_driver)
-{
-	px4_spi_bus_device_t ret{};
-	ret.cs_gpio = 1; // set to some non-zero value to indicate this is used
-	ret.devid = PX4_SPIDEV_ID(PX4_SPI_DEVICE_ID, 0);
-	ret.devtype_driver = devid_driver;
-	return ret;
-}
-
-static inline constexpr px4_spi_bus_t initSPIBus(int bus, const px4_spi_bus_devices_t &devices)
-{
-	px4_spi_bus_t ret{};
-
-	for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
-		ret.devices[i] = devices.devices[i];
-	}
-
-	ret.bus = bus;
-	ret.is_external = false; // all buses are marked internal on QuRT
-	ret.requires_locking = false;
-	return ret;
-}

posix-configs/eagle/200qx/mainapp.config

@@ -1,19 +0,0 @@
-#!/bin/sh
-
-# PX4 commands need the 'px4-' prefix in bash.
-# (px4-alias.sh is expected to be in the PATH)
-. px4-alias.sh
-
-muorb start
-logger start -t -b 200
-# Wait 1s before setting parameters for muorb to initialize
-sleep 1
-param set CBRK_SUPPLY_CHK 894281
-dataman start
-navigator start
-mavlink start -x -u 14556 -r 1000000 -p
-sleep 1
-mavlink stream -u 14556 -s HIGHRES_IMU -r 50
-mavlink stream -u 14556 -s ATTITUDE -r 50
-mavlink stream -u 14556 -s RC_CHANNELS -r 20
-mavlink boot_complete

posix-configs/eagle/200qx/px4.config

@@ -1,38 +0,0 @@
-qshell start
-param set CBRK_SUPPLY_CHK 894281
-param set SYS_AUTOSTART 4001
-param set MAV_TYPE 2
-param set MC_YAW_P 12
-param set MC_YAWRATE_P 0.08
-param set MC_YAWRATE_I 0.0
-param set MC_YAWRATE_D 0
-param set MC_PITCH_P 7.0
-param set MC_PITCHRATE_P 0.08
-param set MC_PITCHRATE_I 0.0
-param set MC_PITCHRATE_D 0.001
-param set MC_ROLL_P 7.0
-param set MC_ROLLRATE_P 0.08
-param set MC_ROLLRATE_I 0.0
-param set MC_ROLLRATE_D 0.001
-param set SENS_BOARD_ROT 0
-
-
-sleep 1
-mpu9250 -s start
-bmp280 -I start
-gps start -d /dev/tty-4
-rc_update start
-sensors start
-commander start
-ekf2 start
-land_detector start multicopter
-mc_hover_thrust_estimator start
-flight_mode_manager start
-mc_pos_control start
-mc_att_control start
-mc_rate_control start
-uart_esc start -D /dev/tty-2
-spektrum_rc start -d /dev/tty-1
-sleep 1
-list_files
-list_tasks

posix-configs/eagle/210qc/mainapp.config

@@ -1,19 +0,0 @@
-#!/bin/sh
-
-# PX4 commands need the 'px4-' prefix in bash.
-# (px4-alias.sh is expected to be in the PATH)
-. px4-alias.sh
-
-muorb start
-logger start -t -b 200
-# Wait 1s before setting parameters for muorb to initialize
-sleep 1
-param set CBRK_SUPPLY_CHK 894281
-dataman start
-navigator start
-mavlink start -x -u 14556 -r 1000000 -p
-sleep 1
-mavlink stream -u 14556 -s HIGHRES_IMU -r 50
-mavlink stream -u 14556 -s ATTITUDE -r 50
-mavlink stream -u 14556 -s RC_CHANNELS -r 20
-mavlink boot_complete

posix-configs/eagle/210qc/px4.config

@@ -1,38 +0,0 @@
-qshell start
-param set CBRK_SUPPLY_CHK 894281
-param set SYS_AUTOSTART 4001
-param set MAV_TYPE 2
-param set MC_YAW_P 12
-param set MC_YAWRATE_P 0.08
-param set MC_YAWRATE_I 0.0
-param set MC_YAWRATE_D 0
-param set MC_PITCH_P 7.0
-param set MC_PITCHRATE_P 0.08
-param set MC_PITCHRATE_I 0.0
-param set MC_PITCHRATE_D 0.001
-param set MC_ROLL_P 7.0
-param set MC_ROLLRATE_P 0.08
-param set MC_ROLLRATE_I 0.0
-param set MC_ROLLRATE_D 0.001
-param set ATT_W_MAG 0.00
-param set SENS_BOARD_ROT 0
-
-sleep 1
-mpu9250 -s start
-bmp280 -I start
-gps start -d /dev/tty-4
-rc_update start
-sensors start
-commander start
-ekf2 start
-land_detector start multicopter
-mc_hover_thrust_estimator start
-flight_mode_manager start
-mc_pos_control start
-mc_att_control start
-mc_rate_control start
-uart_esc start -D /dev/tty-2
-spektrum_rc start -d /dev/tty-1
-sleep 1
-list_files
-list_tasks

posix-configs/eagle/flight/mainapp.config

@@ -1,19 +0,0 @@
-#!/bin/sh
-
-# PX4 commands need the 'px4-' prefix in bash.
-# (px4-alias.sh is expected to be in the PATH)
-. px4-alias.sh
-
-muorb start
-logger start -t -b 200
-# Wait 1s before setting parameters for muorb to initialize
-sleep 1
-param set CBRK_SUPPLY_CHK 894281
-dataman start
-navigator start
-mavlink start -x -u 14556 -r 1000000 -p
-sleep 1
-mavlink stream -u 14556 -s HIGHRES_IMU -r 50
-mavlink stream -u 14556 -s ATTITUDE -r 50
-mavlink stream -u 14556 -s RC_CHANNELS -r 20
-mavlink boot_complete

posix-configs/eagle/flight/px4.config

@@ -1,24 +0,0 @@
-qshell start
-param set CBRK_SUPPLY_CHK 894281
-param set SYS_AUTOSTART 4001
-sleep 1
-gps start -d /dev/tty-4
-param set MAV_TYPE 2
-sleep 1
-hmc5883 start
-mpu9250 start
-bmp280 start
-sleep 1
-rc_update start
-sensors start
-commander start
-ekf2 start
-land_detector start multicopter
-mc_hover_thrust_estimator start
-flight_mode_manager start
-mc_pos_control start
-mc_att_control start
-mc_rate_control start
-# TODO
-#linux_pwm_out start
-spektrum_rc start

posix-configs/eagle/hil/mainapphil.config

@@ -1,11 +0,0 @@
-muorb start
-# Wait 1s before setting parameters for muorb to initialize
-sleep 1
-param set CBRK_SUPPLY_CHK 894281
-mavlink start -x -u 14556 -p
-sleep 1
-mavlink stream -u 14556 -s HIGHRES_IMU -r 50
-mavlink stream -u 14556 -s ATTITUDE -r 50
-mavlink boot_complete
-battery_simulator start
-simulator start

posix-configs/eagle/hil/px4.config

@@ -1,32 +0,0 @@
-qshell start
-
-param set CBRK_SUPPLY_CHK 894281
-param set SYS_AUTOSTART 4001
-param set SYS_AUTOCONFIG 1
-param set MAV_TYPE 2
-param set MC_YAW_P 1.5
-param set MC_PITCH_P 3.0
-param set MC_ROLL_P 3.0
-param set MC_YAWRATE_P 0.2
-param set MC_PITCHRATE_P 0.03
-param set MC_ROLLRATE_P 0.03
-
-sleep 1
-rc_update start
-commander start -hil
-sensors start
-ekf2 start
-mc_hover_thrust_estimator start
-flight_mode_manager start
-mc_pos_control start
-mc_att_control start
-mc_rate_control start
-land_detector start multicopter
-sleep 1
-pwm_out_sim start
-mixer load /dev/pwm_output0 /startup/quad_x.main.mix
-list_files
-list_tasks
-sleep 10
-list_tasks
-sleep 10

posix-configs/eagle/init/rcS

@@ -1,103 +0,0 @@
-#!/bin/sh
-
-# PX4 commands need the 'px4-' prefix in bash.
-# (px4-alias.sh is expected to be in the PATH)
-. px4-alias.sh
-
-muorb start
-
-# We need to wait until the DSP side is ready before
-# sending commands with qshell.
-sleep 1
-
-# default, generic quad platform
-if param compare SYS_AUTOSTART 4100
-then
-	param set MAV_TYPE 2
-
-	qshell pwm_out_rc_in start -d /dev/tty-2
-
-	qshell gps start -d /dev/tty-4
-	qshell hmc5883 start
-
-# Qualcomm 200qx microheli platform
-elif param compare SYS_AUTOSTART 4200
-then
-	param set MAV_TYPE 2
-	param set MC_YAW_P 7.0
-	param set MC_YAWRATE_P 0.08
-	param set MC_YAWRATE_I 0.0
-	param set MC_YAWRATE_D 0
-	param set MC_PITCH_P 7.0
-	param set MC_PITCHRATE_P 0.08
-	param set MC_PITCHRATE_I 0.0
-	param set MC_PITCHRATE_D 0.0001
-	param set MC_ROLL_P 7.0
-	param set MC_ROLLRATE_P 0.08
-	param set MC_ROLLRATE_I 0.0
-	param set MC_ROLLRATE_D 0.0001
-	param set SENS_BOARD_ROT 0
-
-# Qualcomm internal 210qc platform
-elif param compare SYS_AUTOSTART 4210
-then
-	param set MAV_TYPE 2
-	param set MC_YAW_P 12
-	param set MC_YAWRATE_P 0.08
-	param set MC_YAWRATE_I 0.0
-	param set MC_YAWRATE_D 0
-	param set MC_PITCH_P 7.0
-	param set MC_PITCHRATE_P 0.08
-	param set MC_PITCHRATE_I 0.0
-	param set MC_PITCHRATE_D 0.001
-	param set MC_ROLL_P 7.0
-	param set MC_ROLLRATE_P 0.08
-	param set MC_ROLLRATE_I 0.0
-	param set MC_ROLLRATE_D 0.001
-	param set SENS_BOARD_ROT 0
-
-else
-	echo "NO AIRFRAME CHOSEN!"
-	echo "Please set parameter to select airframe:"
-	echo "    SYS_AUTOSTART 4100: generic (flight) Quad"
-	echo "    SYS_AUTOSTART 4200: Microheli 200QX"
-fi
-
-
-qshell mpu9250 start
-qshell bmp280 start
-qshell rc_update start
-qshell sensors start
-
-if param compare SYS_MC_EST_GROUP 1
-then
-	qshell attitude_estimator_q start
-	qshell local_position_estimator start
-
-elif param compare SYS_MC_EST_GROUP 2
-then
-	param set EKF2_GBIAS_INIT 0.01
-	param set EKF2_ANGERR_INIT 0.01
-	qshell ekf2 start
-else
-	echo "No estimator chosen"
-	exit -1
-fi
-
-qshell commander start
-qshell land_detector start multicopter
-qshell mc_hover_thrust_estimator start
-qshell flight_mode_manager start
-qshell mc_pos_control start
-qshell mc_att_control start
-qshell mc_rate_control start
-
-logger start -b 200 -t
-
-dataman start
-navigator start
-mavlink start -u 14556 -r 1000000 -p
-mavlink stream -u 14556 -s HIGHRES_IMU -r 50
-mavlink stream -u 14556 -s ATTITUDE -r 50
-mavlink stream -u 14556 -s RC_CHANNELS -r 20
-mavlink boot_complete

posix-configs/excelsior/mainapp.config

@@ -1,17 +0,0 @@
-#!/bin/sh
-# PX4 commands need the 'px4-' prefix in bash.
-# (px4-alias.sh is expected to be in the PATH)
-. px4-alias.sh
-
-muorb start
-logger start -e -t
-param set CBRK_SUPPLY_CHK 894281
-dataman start
-navigator start
-sleep 2
-mavlink start -x -u 14556 -r 1000000 -p
-sleep 1
-mavlink stream -u 14556 -s HIGHRES_IMU -r 50
-mavlink stream -u 14556 -s ATTITUDE -r 50
-mavlink stream -u 14556 -s RC_CHANNELS -r 20
-mavlink boot_complete

posix-configs/excelsior/px4.config

@@ -1,36 +0,0 @@
-qshell start
-param set CBRK_SUPPLY_CHK 894281
-param set SYS_AUTOSTART 4001
-param set MAV_TYPE 2
-param set MC_YAW_P 12
-param set MC_YAWRATE_P 0.08
-param set MC_YAWRATE_I 0.0
-param set MC_YAWRATE_D 0
-param set MC_PITCH_P 7.0
-param set MC_PITCHRATE_P 0.08
-param set MC_PITCHRATE_I 0.0
-param set MC_PITCHRATE_D 0.001
-param set MC_ROLL_P 7.0
-param set MC_ROLLRATE_P 0.08
-param set MC_ROLLRATE_I 0.0
-param set MC_ROLLRATE_D 0.001
-param set SENS_BOARD_ROT 4
-
-sleep 1
-mpu9250 -s start
-bmp280 -I start
-rc_update start
-sensors start
-commander start
-ekf2 start
-land_detector start multicopter
-mc_hover_thrust_estimator start
-flight_mode_manager start
-mc_pos_control start
-mc_att_control start
-mc_rate_control start
-uart_esc start -D /dev/tty-1
-spektrum_rc start -d /dev/tty-101
-sleep 1
-list_files
-list_tasks

posix-configs/ocpoc/px4.config

@@ -1,50 +0,0 @@
-#!/bin/sh
-# PX4 commands need the 'px4-' prefix in bash.
-# (px4-alias.sh is expected to be in the PATH)
-. px4-alias.sh
-
-param select /root/rootfs/eeprom/parameters
-if [ -f /root/rootfs/eeprom/parameters ]
-then
-	param load
-fi
-param set CBRK_SUPPLY_CHK 894281
-param set SYS_AUTOSTART 4001
-param set MAV_TYPE 2
-param set MAV_SYS_ID 1
-
-load_mon start
-
-mpu9250 -s -R 4 start
-hmc5883 -I start
-ms5611 -s start
-
-rgbled start -b 1
-
-board_adc start
-battery_status start
-
-gps start -d /dev/ttyS3 -s
-rc_update start
-sensors start
-commander start
-navigator start
-dataman start
-ekf2 start
-land_detector start multicopter
-mc_hover_thrust_estimator start
-flight_mode_manager start
-mc_pos_control start
-mc_att_control start
-mc_rate_control start
-
-mavlink start -x -d /dev/ttyPS1
-mavlink stream -d /dev/ttyPS1 -s HIGHRES_IMU -r 50
-mavlink stream -d /dev/ttyPS1 -s ATTITUDE -r 50
-
-rc_input start -d /dev/ttyS2
-
-linux_pwm_out start
-mixer load /dev/pwm_out etc/mixers/quad_x.main.mix
-logger start -t -b 200
-mavlink boot_complete

src/drivers/qshell/posix/CMakeLists.txt

@@ -1,42 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2016 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.
-#
-############################################################################
-px4_add_module(
-	MODULE drivers__qshell__posix
-	MAIN qshell
-	SRCS
-	  #qshell_main.cpp
-		qshell_start_posix.cpp
-		qshell.cpp
-	DEPENDS
-	)
-

src/drivers/qshell/posix/qshell.cpp

@@ -1,133 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2016 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.
- *
- ****************************************************************************/
-
-/**
- * @file qshell.cpp
- * Send shell commands to qurt
- *
- * @author Nicolas de Palezieux <ndepal@gmail.com>
- */
-
-#include <px4_platform_common/log.h>
-#include <unistd.h>
-#include <stdio.h>
-#include <string.h>
-#include <string>
-#include <stdlib.h>
-#include <drivers/drv_hrt.h>
-#include <uORB/topics/qshell_retval.h>
-
-#include "qshell.h"
-
-px4::AppState QShell::appState;
-
-int QShell::main(std::vector<std::string> argList)
-{
-	int ret = _send_cmd(argList);
-
-	if (ret != 0) {
-		PX4_ERR("Could not send command");
-		return -1;
-	}
-
-	ret = _wait_for_retval();
-
-	if (ret != 0) {
-		PX4_ERR("Could not get return value");
-		return -1;
-	}
-
-	return 0;
-}
-
-int QShell::_send_cmd(std::vector<std::string> &argList)
-{
-	// Let's use a sequence number to check if a return value belongs to the
-	// command that we just sent and not a previous one that we assumed that
-	// it had timed out.
-	++_current_sequence;
-
-	qshell_req_s qshell_req{};
-	std::string cmd;
-
-	for (size_t i = 0; i < argList.size(); i++) {
-		cmd += argList[i];
-
-		if (i < argList.size() - 1) {
-			cmd += " ";
-		}
-	}
-
-	if (cmd.size() >= qshell_req.MAX_STRLEN) {
-		PX4_ERR("Command too long: %d >= %d", (int) cmd.size(), (int) qshell_req.MAX_STRLEN);
-		return -1;
-	}
-
-	PX4_INFO("Send cmd: '%s'", cmd.c_str());
-
-	qshell_req.strlen = cmd.size();
-	strcpy((char *)qshell_req.cmd, cmd.c_str());
-	qshell_req.request_sequence = _current_sequence;
-
-	qshell_req.timestamp = hrt_absolute_time();
-	_qshell_req_pub.publish(qshell_req);
-
-	return 0;
-}
-
-int QShell::_wait_for_retval()
-{
-	const hrt_abstime time_started_us = hrt_absolute_time();
-
-	while (hrt_elapsed_time(&time_started_us) < 3000000) {
-		qshell_retval_s retval;
-
-		if (_qshell_retval_sub.update(&retval)) {
-			if (retval.return_sequence != _current_sequence) {
-				PX4_WARN("Ignoring return value with wrong sequence");
-
-			} else {
-				if (retval.return_value) {
-					PX4_WARN("cmd returned with: %d", retval.return_value);
-				}
-
-				return 0;
-			}
-		}
-
-		px4_usleep(1000);
-	}
-
-	PX4_ERR("command timed out");
-	return -1;
-}

src/drivers/qshell/posix/qshell.h

@@ -1,71 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2016 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.
- *
- ****************************************************************************/
-
-/**
- * @file qshell.h
- * Send shell commands to qurt
- *
- * @author Nicolas de Palezieux <ndepal@gmail.com>
- */
-
-#pragma once
-
-#include <px4_platform_common/app.h>
-#include <uORB/Publication.hpp>
-#include <uORB/Subscription.hpp>
-#include <uORB/topics/qshell_req.h>
-#include <uORB/topics/qshell_retval.h>
-
-#include <vector>
-#include <string>
-
-class QShell
-{
-public:
-	QShell() = default;
-	~QShell() = default;
-
-	int main(std::vector<std::string> argList);
-
-	static px4::AppState appState; /* track requests to terminate app */
-
-private:
-	int _send_cmd(std::vector<std::string> &argList);
-	int _wait_for_retval();
-
-	uORB::Publication<qshell_req_s>	_qshell_req_pub{ORB_ID(qshell_req)};
-
-	uORB::Subscription		_qshell_retval_sub{ORB_ID(qshell_retval)};
-
-	uint32_t			_current_sequence{0};
-};

src/drivers/qshell/posix/qshell_start_posix.cpp

@@ -1,77 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2016 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.
- *
- ****************************************************************************/
-
-/**
- * @file qshell_start_posix.cpp
- * Send shell commands to qurt
- *
- * @author Nicolas de Palezieux <ndepal@gmail.com>
- */
-
-#include "qshell.h"
-#include <px4_platform_common/log.h>
-#include <px4_platform_common/app.h>
-#include <px4_platform_common/tasks.h>
-#include <stdio.h>
-#include <string.h>
-#include <sched.h>
-#include <cstdlib>
-#include <string>
-#include <vector>
-
-//using namespace px4;
-
-extern "C" __EXPORT int qshell_main(int argc, char *argv[]);
-
-static void usage()
-{
-	PX4_DEBUG("usage: qshell cmd [args]");
-}
-
-int qshell_main(int argc, char *argv[])
-{
-	if (argc < 2) {
-		usage();
-		return 1;
-	}
-
-	std::vector<std::string> argList;
-
-	for (int i = 1; i < argc; i++) {
-		argList.push_back(argv[i]);
-	}
-
-
-	QShell qshell;
-	return qshell.main(argList);
-}

src/drivers/qshell/qurt/CMakeLists.txt

@@ -1,41 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2016 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.
-#
-############################################################################
-px4_add_module(
-	MODULE drivers__qshell__qurt
-	MAIN qshell
-	SRCS
-		qshell_main.cpp
-		qshell_start_qurt.cpp
-		qshell.cpp
-	DEPENDS
-	)

src/drivers/qshell/qurt/qshell.cpp

@@ -1,184 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2016 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.
- *
- ****************************************************************************/
-
-/**
- * @file qshell.cpp
- * Listener for shell commands from posix
- *
- * @author Nicolas de Palezieux <ndepal@gmail.com>
- */
-
-#include "qshell.h"
-
-#include <px4_platform_common/log.h>
-#include <px4_platform_common/time.h>
-#include <px4_platform_common/posix.h>
-#include <px4_platform_common/defines.h>
-#include <dspal_platform.h>
-
-#include <unistd.h>
-#include <stdio.h>
-#include <string.h>
-#include <iostream>
-#include <fstream>
-#include <sstream>
-#include <signal.h>
-#include <stdio.h>
-#include <stdlib.h>
-
-#include <uORB/topics/qshell_retval.h>
-#include <drivers/drv_hrt.h>
-
-#define MAX_ARGS 8 // max number of whitespace separated args after app name
-
-px4::AppState QShell::appState;
-
-QShell::QShell()
-{
-	init_app_map(m_apps);
-}
-
-int QShell::main()
-{
-	appState.setRunning(true);
-	int sub_qshell_req = orb_subscribe(ORB_ID(qshell_req));
-
-	if (sub_qshell_req == PX4_ERROR) {
-		PX4_ERR("Error subscribing to qshell_req topic");
-		return -1;
-	}
-
-	px4_pollfd_struct_t fds[1] = {};
-	fds[0].fd = sub_qshell_req;
-	fds[0].events = POLLIN;
-
-	while (!appState.exitRequested()) {
-
-		int pret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 1000);
-
-		if (pret > 0 && fds[0].revents & POLLIN) {
-
-			orb_copy(ORB_ID(qshell_req), sub_qshell_req, &m_qshell_req);
-
-			PX4_INFO("qshell gotten: %s", m_qshell_req.cmd);
-			char current_char;
-			std::string arg;
-			std::vector<std::string> appargs;
-
-			for (unsigned str_idx = 0; str_idx < m_qshell_req.strlen; str_idx++) {
-				current_char = m_qshell_req.cmd[str_idx];
-
-				if (isspace(current_char)) { // split at spaces
-					if (arg.length()) {
-						appargs.push_back(arg);
-						arg = "";
-					}
-
-				} else {
-					arg += current_char;
-				}
-			}
-
-			appargs.push_back(arg);  // push last argument
-
-			qshell_retval_s retval{};
-			retval.return_value = run_cmd(appargs);
-			retval.return_sequence = m_qshell_req.request_sequence;
-
-			if (retval.return_value) {
-				PX4_ERR("Failed to execute command: %s", m_qshell_req.cmd);
-
-			} else {
-				PX4_INFO("Ok executing command: %s", m_qshell_req.cmd);
-			}
-
-			retval.timestamp = hrt_absolute_time();
-			_qshell_retval_pub.publish(retval);
-
-		} else if (pret == 0) {
-			// Timing out is fine.
-		} else {
-			// Something is wrong.
-			usleep(10000);
-		}
-	}
-
-	appState.setRunning(false);
-	return 0;
-}
-
-int QShell::run_cmd(const std::vector<std::string> &appargs)
-{
-	// command is appargs[0]
-	std::string command = appargs[0];
-
-	if (command.compare("help") == 0) {
-		list_builtins(m_apps);
-		return 0;
-	}
-
-	//replaces app.find with iterator code to avoid null pointer exception
-	for (apps_map_type::iterator it = m_apps.begin(); it != m_apps.end(); ++it) {
-		if (it->first == command) {
-			// one for command name, one for null terminator
-			const char *arg[MAX_ARGS + 2];
-
-			unsigned int i = 0;
-
-			if (appargs.size() > MAX_ARGS + 1) {
-				PX4_ERR("%d too many arguments in run_cmd", appargs.size() - (MAX_ARGS + 1));
-				return 1;
-			}
-
-			while (i < appargs.size() && appargs[i].c_str()[0] != '\0') {
-				arg[i] = (char *)appargs[i].c_str();
-				PX4_DEBUG("  arg%d = '%s'\n", i, arg[i]);
-				++i;
-			}
-
-			arg[i] = (char *)0;
-
-			//PX4_DEBUG_PRINTF(i);
-			if (m_apps[command] == NULL) {
-				PX4_ERR("Null function !!\n");
-
-			} else {
-				return m_apps[command](i, (char **)arg);
-			}
-
-		}
-	}
-
-	PX4_ERR("Command %s not found", command.c_str());
-	return 1;
-}

src/drivers/qshell/qurt/qshell.h

@@ -1,70 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2016 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.
- *
- ****************************************************************************/
-
-/**
- * @file qshell.h
- * Listener for shell commands from posix
- *
- * @author Nicolas de Palezieux <ndepal@gmail.com>
- */
-
-#pragma once
-
-#include <px4_platform_common/app.h>
-#include <string>
-#include <vector>
-#include <uORB/Publication.hpp>
-#include <uORB/topics/qshell_retval.h>
-#include <uORB/topics/qshell_req.h>
-
-#include "apps.h"
-
-class QShell
-{
-public:
-	QShell();
-	~QShell() {}
-
-	int main();
-	int run_cmd(const std::vector<std::string> &appargs);
-
-	static px4::AppState appState; /* track requests to terminate app */
-
-private:
-
-	uORB::Publication<qshell_retval_s>	_qshell_retval_pub{ORB_ID(qshell_retval)};
-
-	qshell_req_s m_qshell_req{};
-
-	apps_map_type m_apps;
-};

src/drivers/qshell/qurt/qshell_main.cpp

@@ -1,58 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2016 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.
- *
- ****************************************************************************/
-
-/**
- * @file qshell_main.cpp
- * Listener for shell commands from posix
- *
- * @author Nicolas de Palezieux <ndepal@gmail.com>
- */
-
-#include <px4_platform_common/log.h>
-#include <px4_platform_common/app.h>
-#include <px4_platform_common/init.h>
-#include "qshell.h"
-
-extern "C" __EXPORT int qshell_entry(int argc, char **argv);
-
-int qshell_entry(int argc, char **argv)
-{
-	px4::init(argc, argv, "qshell");
-
-	PX4_DEBUG("qshell");
-	QShell qshell;
-	qshell.main();
-
-	PX4_DEBUG("goodbye");
-	return 0;
-}

src/drivers/qshell/qurt/qshell_start_qurt.cpp

@@ -1,117 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2016 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.
- *
- ****************************************************************************/
-
-/**
- * @file qshell_start_qurt.cpp
- * Listener for shell commands from posix
- *
- * @author Nicolas de Palezieux <ndepal@gmail.com>
- */
-
-#include "qshell.h"
-#include <px4_platform_common/log.h>
-#include <px4_platform_common/app.h>
-#include <px4_platform_common/tasks.h>
-#include <stdio.h>
-#include <string.h>
-#include <sched.h>
-
-static int daemon_task;             /* Handle of deamon task / thread */
-
-//using namespace px4;
-
-extern "C" __EXPORT int qshell_main(int argc, char *argv[]);
-
-int qshell_entry(int argc, char **argv)
-{
-	//px4::init(argc, argv, "qshell");
-
-	PX4_DEBUG("qshell entry.....");
-	QShell qshell;
-	qshell.main();
-
-	PX4_DEBUG("goodbye");
-	return 0;
-}
-
-static void usage()
-{
-	PX4_INFO("usage: qshell {start|stop|status}");
-}
-
-int qshell_main(int argc, char *argv[])
-{
-	if (argc < 2) {
-		usage();
-		return 1;
-	}
-
-	if (!strcmp(argv[1], "start")) {
-
-		if (QShell::appState.isRunning()) {
-			PX4_INFO("already running");
-			/* this is not an error */
-			return 0;
-		}
-
-		PX4_DEBUG("before starting the qshell_entry task");
-
-		daemon_task = px4_task_spawn_cmd("qshell",
-						 SCHED_DEFAULT,
-						 SCHED_PRIORITY_MAX - 5,
-						 8192,
-						 qshell_entry,
-						 (char *const *)argv);
-
-		return 0;
-	}
-
-	if (!strcmp(argv[1], "stop")) {
-		QShell::appState.requestExit();
-		return 0;
-	}
-
-	if (!strcmp(argv[1], "status")) {
-		if (QShell::appState.isRunning()) {
-			PX4_INFO("is running");
-
-		} else {
-			PX4_INFO("not started");
-		}
-
-		return 0;
-	}
-
-	usage();
-	return 1;
-}

src/lib/drivers/device/CMakeLists.txt

@@ -40,12 +40,7 @@ if (${PX4_PLATFORM} STREQUAL "nuttx")
 	if ("${CONFIG_SPI}" STREQUAL "y")
 		list(APPEND SRCS_PLATFORM nuttx/SPI.cpp)
 	endif()
-elseif((${PX4_PLATFORM} MATCHES "qurt"))
+elseif(UNIX AND NOT APPLE) #TODO: add linux PX4 platform type
-	list(APPEND SRCS_PLATFORM
-		qurt/I2C.cpp
-		qurt/SPI.cpp
-	)
-elseif(UNIX AND NOT APPLE AND NOT (${PX4_PLATFORM} MATCHES "qurt")) #TODO: add linux PX4 platform type
 	# Linux I2Cdev and SPIdev
 	list(APPEND SRCS_PLATFORM
 		posix/I2C.cpp

src/lib/drivers/device/i2c.h

@@ -34,8 +34,6 @@
 
 #ifdef __PX4_NUTTX
 #include "nuttx/I2C.hpp"
-#elif __PX4_QURT
-#include "qurt/I2C.hpp"
 #else
 #include "posix/I2C.hpp"
 #endif

src/lib/drivers/device/qurt/I2C.cpp

@@ -1,170 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2016-2020 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.
- *
- ****************************************************************************/
-
-/**
- * @file I2C.cpp
- *
- * Base class for devices attached via the I2C bus.
- *
- * @todo Bus frequency changes; currently we do nothing with the value
- *       that is supplied.  Should we just depend on the bus knowing?
- */
-
-#include "I2C.hpp"
-
-#include <dev_fs_lib_i2c.h>
-
-#include <px4_platform_common/i2c_spi_buses.h>
-
-namespace device
-{
-
-I2C::I2C(uint8_t device_type, const char *name, const int bus, const uint16_t address, const uint32_t frequency) :
-	CDev(name, nullptr),
-	_frequency(frequency)
-{
-	// fill in _device_id fields for a I2C device
-	_device_id.devid_s.devtype = device_type;
-	_device_id.devid_s.bus_type = DeviceBusType_I2C;
-	_device_id.devid_s.bus = bus;
-	_device_id.devid_s.address = address;
-}
-
-I2C::I2C(const I2CSPIDriverConfig &config)
-	: I2C(config.devid_driver_index, config.module_name, config.bus, config.i2c_address, config.bus_frequency)
-{
-}
-
-I2C::~I2C()
-{
-	if (_fd >= 0) {
-		::close(_fd);
-		_fd = -1;
-	}
-}
-
-int
-I2C::init()
-{
-	int ret = PX4_ERROR;
-
-	// Open the actual I2C device
-	char dev_path[16] {};
-	snprintf(dev_path, sizeof(dev_path), DEV_FS_I2C_DEVICE_TYPE_STRING"%i", get_device_bus());
-	_fd = ::open(dev_path, O_RDWR);
-
-	if (_fd < 0) {
-		DEVICE_DEBUG("failed to init I2C");
-		ret = -ENOENT;
-		goto out;
-	}
-
-	// call the probe function to check whether the device is present
-	ret = probe();
-
-	if (ret != OK) {
-		DEVICE_DEBUG("probe failed");
-		goto out;
-	}
-
-	// do base class init, which will create device node, etc
-	ret = CDev::init();
-
-	if (ret != OK) {
-		DEVICE_DEBUG("cdev init failed");
-		goto out;
-	}
-
-	// tell the world where we are
-	DEVICE_DEBUG("on I2C bus %d at 0x%02x", get_device_bus(), get_device_address());
-
-out:
-
-	if ((ret != OK) && !(_fd < 0)) {
-		::close(_fd);
-		_fd = -1;
-	}
-
-	return ret;
-}
-
-int
-I2C::transfer(const uint8_t *send, const unsigned send_len, uint8_t *recv, const unsigned recv_len)
-{
-	int ret = PX4_ERROR;
-	unsigned retry_count = 0;
-
-	if (_fd < 0) {
-		PX4_ERR("I2C device not opened");
-		return PX4_ERROR;
-	}
-
-	do {
-		DEVICE_DEBUG("transfer out %p/%u  in %p/%u", send, send_len, recv, recv_len);
-
-		dspal_i2c_ioctl_slave_config slave_config{};
-		slave_config.slave_address = get_device_address();
-		slave_config.bus_frequency_in_khz = _frequency / 1000;
-		slave_config.byte_transer_timeout_in_usecs = 10000; // 10 ms
-		int ret_config = ::ioctl(_fd, I2C_IOCTL_SLAVE, &slave_config);
-
-		if (ret_config < 0) {
-			DEVICE_DEBUG("Could not set slave config, result: %d", ret_config);
-		}
-
-
-		dspal_i2c_ioctl_combined_write_read ioctl_write_read{};
-
-		ioctl_write_read.write_buf = (uint8_t *)send;
-		ioctl_write_read.write_buf_len = send_len;
-		ioctl_write_read.read_buf = recv;
-		ioctl_write_read.read_buf_len = recv_len;
-
-		int bytes_read = ::ioctl(_fd, I2C_IOCTL_RDWR, &ioctl_write_read);
-
-		if (bytes_read != (int)recv_len) {
-			DEVICE_DEBUG("I2C transfer failed, bytes read %d", bytes_read);
-			ret = PX4_ERROR;
-
-		} else {
-			// success
-			ret = PX4_OK;
-			break;
-		}
-
-	} while (retry_count++ < _retries);
-
-	return ret;
-}
-
-} // namespace device

src/lib/drivers/device/qurt/I2C.hpp

@@ -1,115 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2016-2020 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.
- *
- ****************************************************************************/
-
-/**
- * @file I2C.hpp
- *
- * Base class for devices connected via I2C.
- */
-
-#ifndef _DEVICE_I2C_H
-#define _DEVICE_I2C_H
-
-#include "../CDev.hpp"
-
-struct I2CSPIDriverConfig;
-
-namespace device __EXPORT
-{
-
-/**
- * Abstract class for character device on I2C
- */
-class __EXPORT I2C : public CDev
-{
-
-public:
-
-	// no copy, assignment, move, move assignment
-	I2C(const I2C &) = delete;
-	I2C &operator=(const I2C &) = delete;
-	I2C(I2C &&) = delete;
-	I2C &operator=(I2C &&) = delete;
-
-	virtual int	init() override;
-
-protected:
-	/**
-	 * The number of times a read or write operation will be retried on
-	 * error.
-	 */
-	uint8_t		_retries{0};
-
-	/**
-	 * @ Constructor
-	 *
-	 * @param device_type	The device type (see drv_sensor.h)
-	 * @param name		Driver name
-	 * @param bus		I2C bus on which the device lives
-	 * @param address	I2C bus address, or zero if set_address will be used
-	 * @param frequency	I2C bus frequency for the device (currently not used)
-	 */
-	I2C(uint8_t device_type, const char *name, const int bus, const uint16_t address, const uint32_t frequency);
-	I2C(const I2CSPIDriverConfig &config);
-	virtual ~I2C();
-
-	/**
-	 * Check for the presence of the device on the bus.
-	 */
-	virtual int	probe() { return PX4_OK; }
-
-	/**
-	 * Perform an I2C transaction to the device.
-	 *
-	 * At least one of send_len and recv_len must be non-zero.
-	 *
-	 * @param send		Pointer to bytes to send.
-	 * @param send_len	Number of bytes to send.
-	 * @param recv		Pointer to buffer for bytes received.
-	 * @param recv_len	Number of bytes to receive.
-	 * @return		OK if the transfer was successful, -errno
-	 *			otherwise.
-	 */
-	int		transfer(const uint8_t *send, const unsigned send_len, uint8_t *recv, const unsigned recv_len);
-
-	virtual bool	external() const override { return px4_i2c_bus_external(_device_id.devid_s.bus); }
-
-private:
-	uint32_t		_frequency{0};
-	int			_fd{-1};
-
-};
-
-} // namespace device
-
-#endif /* _DEVICE_I2C_H */

src/lib/drivers/device/qurt/SPI.cpp

@@ -1,207 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2019 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.
- *
- ****************************************************************************/
-
-/**
- * @file SPI.cpp
- *
- * Base class for devices connected via SPI.
- *
- */
-
-#include "SPI.hpp"
-
-#include <fcntl.h>
-#include <unistd.h>
-#include <sys/ioctl.h>
-
-#include "dev_fs_lib_spi.h"
-
-#include <px4_platform_common/i2c_spi_buses.h>
-#include <px4_platform_common/px4_config.h>
-
-namespace device
-{
-
-SPI::SPI(uint8_t device_type, const char *name, int bus, uint32_t device, enum spi_mode_e mode, uint32_t frequency) :
-	CDev(name, nullptr),
-	_device(device),
-	_mode(mode),
-	_frequency(frequency)
-{
-	_device_id.devid_s.devtype = device_type;
-	// fill in _device_id fields for a SPI device
-	_device_id.devid_s.bus_type = DeviceBusType_SPI;
-	_device_id.devid_s.bus = bus;
-	_device_id.devid_s.address = (uint8_t)device;
-}
-
-SPI::SPI(const I2CSPIDriverConfig &config)
-	: SPI(config.devid_driver_index, config.module_name, config.bus, config.spi_devid, config.spi_mode,
-	      config.bus_frequency)
-{
-}
-
-SPI::~SPI()
-{
-	if (_fd >= 0) {
-		::close(_fd);
-		_fd = -1;
-	}
-}
-
-int
-SPI::init()
-{
-	// Open the actual SPI device
-	char dev_path[16];
-	snprintf(dev_path, sizeof(dev_path), DEV_FS_SPI_DEVICE_TYPE_STRING"%lu", PX4_SPI_DEV_ID(_device));
-	DEVICE_DEBUG("%s", dev_path);
-	_fd = ::open(dev_path, O_RDWR);
-
-	if (_fd < 0) {
-		PX4_ERR("could not open %s", dev_path);
-		return PX4_ERROR;
-	}
-
-	/* call the probe function to check whether the device is present */
-	int ret = probe();
-
-	if (ret != OK) {
-		DEVICE_DEBUG("probe failed");
-		return ret;
-	}
-
-	/* do base class init, which will create the device node, etc. */
-	ret = CDev::init();
-
-	if (ret != OK) {
-		DEVICE_DEBUG("cdev init failed");
-		return ret;
-	}
-
-	/* tell the world where we are */
-	DEVICE_DEBUG("on SPI bus %d at %d (%u KHz)", get_device_bus(), PX4_SPI_DEV_ID(_device), _frequency / 1000);
-
-	return PX4_OK;
-}
-
-int
-SPI::transfer(uint8_t *send, uint8_t *recv, unsigned len)
-{
-	if ((send == nullptr) && (recv == nullptr)) {
-		return -EINVAL;
-	}
-
-	// set bus frequency
-	dspal_spi_ioctl_set_bus_frequency bus_freq{};
-
-	bus_freq.bus_frequency_in_hz = _frequency;
-
-	if (::ioctl(_fd, SPI_IOCTL_SET_BUS_FREQUENCY_IN_HZ, &bus_freq) < 0) {
-		PX4_ERR("setting bus frequency failed");
-		return PX4_ERROR;
-	}
-
-	// set bus mode
-	// dspal_spi_ioctl_set_spi_mode bus_mode{};
-	// bus_mode.eClockPolarity = SPI_CLOCK_IDLE_HIGH;
-	// bus_mode.eShiftMode = SPI_OUTPUT_FIRST;
-
-	// if (::ioctl(spi_fildes, SPI_IOCTL_SET_SPI_MODE, &bus_mode) < 0) {
-	// 	PX4_ERR("setting mode failed");
-	// 	return PX4_ERROR;
-	// }
-
-	// transfer data
-	dspal_spi_ioctl_read_write ioctl_write_read{};
-
-	ioctl_write_read.read_buffer = send;
-	ioctl_write_read.read_buffer_length = len;
-	ioctl_write_read.write_buffer = recv;
-	ioctl_write_read.write_buffer_length = len;
-
-	int result = ::ioctl(_fd, SPI_IOCTL_RDWR, &ioctl_write_read);
-
-	if (result < 0) {
-		PX4_ERR("transfer error %d", result);
-		return PX4_ERROR;
-	}
-
-	return PX4_OK;
-}
-
-int
-SPI::transferhword(uint16_t *send, uint16_t *recv, unsigned len)
-{
-	if ((send == nullptr) && (recv == nullptr)) {
-		return -EINVAL;
-	}
-
-	// set bus frequency
-	dspal_spi_ioctl_set_bus_frequency bus_freq{};
-	bus_freq.bus_frequency_in_hz = _frequency;
-
-	if (::ioctl(_fd, SPI_IOCTL_SET_BUS_FREQUENCY_IN_HZ, &bus_freq) < 0) {
-		PX4_ERR("setting bus frequency failed");
-		return PX4_ERROR;
-	}
-
-	// set bus mode
-	// dspal_spi_ioctl_set_spi_mode bus_mode{};
-	// bus_mode.eClockPolarity = SPI_CLOCK_IDLE_HIGH;
-	// bus_mode.eShiftMode = SPI_OUTPUT_FIRST;
-
-	// if (::ioctl(spi_fildes, SPI_IOCTL_SET_SPI_MODE, &bus_mode) < 0) {
-	// 	PX4_ERR("setting mode failed");
-	// 	return PX4_ERROR;
-	// }
-
-	// transfer data
-	dspal_spi_ioctl_read_write ioctl_write_read{};
-
-	ioctl_write_read.read_buffer = send;
-	ioctl_write_read.read_buffer_length = len * 2;
-	ioctl_write_read.write_buffer = recv;
-	ioctl_write_read.write_buffer_length = len * 2;
-
-	int result = ::ioctl(_fd, SPI_IOCTL_RDWR, &ioctl_write_read);
-
-	if (result < 0) {
-		PX4_ERR("transfer error %d", result);
-		return PX4_ERROR;
-	}
-
-	return PX4_OK;
-}
-
-} // namespace device

src/lib/drivers/device/qurt/SPI.hpp

@@ -1,171 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2019 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.
- *
- ****************************************************************************/
-
-/**
- * @file SPI.hpp
- *
- * Base class for devices connected via SPI.
- */
-
-#pragma once
-
-#include "../CDev.hpp"
-
-#include "dev_fs_lib_spi.h"
-
-enum spi_mode_e {
-	SPIDEV_MODE0 = 0, /* CPOL=0 CHPHA=0 */
-	SPIDEV_MODE1 = 1, /* CPOL=0 CHPHA=1 */
-	SPIDEV_MODE2 = 2, /* CPOL=1 CHPHA=0 */
-	SPIDEV_MODE3 = 3  /* CPOL=1 CHPHA=1 */
-};
-
-struct I2CSPIDriverConfig;
-
-namespace device __EXPORT
-{
-
-/**
- * Abstract class for character device on SPI
- */
-class __EXPORT SPI : public CDev
-{
-protected:
-	/**
-	 * Constructor
-	 *
-	 * @param device_type	The device type (see drv_sensor.h)
-	 * @param name		Driver name
-	 * @param bus		SPI bus on which the device lives
-	 * @param device	Device handle (used by SPI_SELECT)
-	 * @param mode		SPI clock/data mode
-	 * @param frequency	SPI clock frequency
-	 */
-	SPI(uint8_t device_type, const char *name, int bus, uint32_t device, enum spi_mode_e mode, uint32_t frequency);
-	SPI(const I2CSPIDriverConfig &config);
-	virtual ~SPI();
-
-	/**
-	 * Locking modes supported by the driver.
-	 */
-	enum LockMode {
-		LOCK_PREEMPTION,	/**< the default; lock against all forms of preemption. */
-		LOCK_THREADS,		/**< lock only against other threads, using SPI_LOCK */
-		LOCK_NONE		/**< perform no locking, only safe if the bus is entirely private */
-	};
-
-	virtual int	init();
-
-	/**
-	 * Check for the presence of the device on the bus.
-	 */
-	virtual int	probe() { return PX4_OK; }
-
-	/**
-	 * Perform a SPI transfer.
-	 *
-	 * If called from interrupt context, this interface does not lock
-	 * the bus and may interfere with non-interrupt-context callers.
-	 *
-	 * Clients in a mixed interrupt/non-interrupt configuration must
-	 * ensure appropriate interlocking.
-	 *
-	 * At least one of send or recv must be non-null.
-	 *
-	 * @param send		Bytes to send to the device, or nullptr if
-	 *			no data is to be sent.
-	 * @param recv		Buffer for receiving bytes from the device,
-	 *			or nullptr if no bytes are to be received.
-	 * @param len		Number of bytes to transfer.
-	 * @return		OK if the exchange was successful, -errno
-	 *			otherwise.
-	 */
-	int		transfer(uint8_t *send, uint8_t *recv, unsigned len);
-
-	/**
-	 * Perform a SPI 16 bit transfer.
-	 *
-	 * If called from interrupt context, this interface does not lock
-	 * the bus and may interfere with non-interrupt-context callers.
-	 *
-	 * Clients in a mixed interrupt/non-interrupt configuration must
-	 * ensure appropriate interlocking.
-	 *
-	 * At least one of send or recv must be non-null.
-	 *
-	 * @param send		Words to send to the device, or nullptr if
-	 *			no data is to be sent.
-	 * @param recv		Words for receiving bytes from the device,
-	 *			or nullptr if no bytes are to be received.
-	 * @param len		Number of words to transfer.
-	 * @return		OK if the exchange was successful, -errno
-	 *			otherwise.
-	 */
-	int		transferhword(uint16_t *send, uint16_t *recv, unsigned len);
-
-	/**
-	 * Set the SPI bus frequency
-	 * This is used to change frequency on the fly. Some sensors
-	 * (such as the MPU6000) need a lower frequency for setup
-	 * registers and can handle higher frequency for sensor
-	 * value registers
-	 *
-	 * @param frequency	Frequency to set (Hz)
-	 */
-	void		set_frequency(uint32_t frequency) { _frequency = frequency; }
-	uint32_t	get_frequency() { return _frequency; }
-
-	/**
-	 * Set the SPI bus locking mode
-	 *
-	 * This set the SPI locking mode. For devices competing with NuttX SPI
-	 * drivers on a bus the right lock mode is LOCK_THREADS.
-	 *
-	 * @param mode	Locking mode
-	 */
-	void		set_lockmode(enum LockMode mode) {}
-
-private:
-	int 			_fd{-1};
-
-	uint32_t		_device;
-	enum spi_mode_e		_mode;
-	uint32_t		_frequency;
-
-protected:
-
-	bool	external() { return px4_spi_bus_external(get_device_bus()); }
-
-};
-
-} // namespace device

src/lib/drivers/device/spi.h

@@ -34,8 +34,6 @@
 
 #ifdef __PX4_NUTTX
 #include "nuttx/SPI.hpp"
-#elif __PX4_QURT
-#include "qurt/SPI.hpp"
 #else
 #include "posix/SPI.hpp"
 #endif

src/lib/mathlib/math/test/test.cpp

@@ -100,14 +100,9 @@ bool __EXPORT less_than_or_equal(float a, float b)
 	}
 }
 
-void __EXPORT float2SigExp(
+void __EXPORT float2SigExp(const float &num, float &sig, int &exp)
-	const float &num,
-	float &sig,
-	int &exp)
 {
-// FIXME - This code makes no sense when exp is an int
+
-// FIXME - isnan and isinf not defined for QuRT
-#ifndef __PX4_QURT
 	if (!PX4_ISFINITE(num)) {
 		sig = 0.0f;
 		exp = -99;
@@ -129,8 +124,6 @@ void __EXPORT float2SigExp(
 		exp = floor(exp);
 	}
 
-#endif
-
 	sig = num;
 
 	// cheap power since it is integer

src/lib/parameters/CMakeLists.txt

@@ -129,17 +129,12 @@ add_custom_command(OUTPUT px4_parameters.hpp
 	)
 
 set(SRCS)
-if ("${CONFIG_SHMEM}" STREQUAL "1")
+
-	message(STATUS "parameters shared memory enabled")
+list(APPEND SRCS parameters.cpp)
-	add_definitions(-DCONFIG_SHMEM=1)
+if(BUILD_TESTING)
-	list(APPEND SRCS parameters_shmem.cpp)
+	list(APPEND SRCS param_translation_unit_tests.cpp)
 else()
-	list(APPEND SRCS parameters.cpp)
+	list(APPEND SRCS param_translation.cpp)
-	if(BUILD_TESTING)
-		list(APPEND SRCS param_translation_unit_tests.cpp)
-	else()
-		list(APPEND SRCS param_translation.cpp)
-	endif()
 endif()
 
 if(${PX4_PLATFORM} STREQUAL "nuttx")

src/lib/parameters/parameters.cpp

@@ -81,14 +81,6 @@ static const char *param_default_file = PX4_ROOTFSDIR"/eeprom/parameters";
 
 static char *param_user_file = nullptr;
 
-#ifdef __PX4_QURT
-#define PARAM_OPEN	px4_open
-#define PARAM_CLOSE	px4_close
-#else
-#define PARAM_OPEN	open
-#define PARAM_CLOSE	close
-#endif
-
 #include <px4_platform_common/workqueue.h>
 /* autosaving variables */
 static hrt_abstime last_autosave_timestamp = 0;
@@ -1133,11 +1125,11 @@ int param_save_default()
 
 	while (res != OK && attempts > 0) {
 		// write parameters to file
-		int fd = PARAM_OPEN(filename, O_WRONLY | O_CREAT, PX4_O_MODE_666);
+		int fd = ::open(filename, O_WRONLY | O_CREAT, PX4_O_MODE_666);
 
 		if (fd > -1) {
 			res = param_export(fd, false, nullptr);
-			PARAM_CLOSE(fd);
+			::close(fd);
 
 			if (res != PX4_OK) {
 				PX4_ERR("param_export failed, retrying %d", attempts);
@@ -1170,7 +1162,7 @@ param_load_default()
 		return flash_param_load();
 	}
 
-	int fd_load = PARAM_OPEN(filename, O_RDONLY);
+	int fd_load = ::open(filename, O_RDONLY);
 
 	if (fd_load < 0) {
 		/* no parameter file is OK, otherwise this is an error */
@@ -1183,7 +1175,7 @@ param_load_default()
 	}
 
 	int result = param_load(fd_load);
-	PARAM_CLOSE(fd_load);
+	::close(fd_load);
 
 	if (result != 0) {
 		PX4_ERR("error reading parameters from '%s'", filename);

src/lib/perf/perf_counter.cpp

@@ -49,11 +49,6 @@
 
 #include "perf_counter.h"
 
-#ifdef __PX4_QURT
-// There is presumably no dprintf on QURT. Therefore use the usual output to mini-dm.
-#define dprintf(_fd, _text, ...) ((_fd) == 1 ? PX4_INFO((_text), ##__VA_ARGS__) : (void)(_fd))
-#endif
-
 /**
  * Header common to all counters.
  */

src/modules/muorb/adsp/CMakeLists.txt

@@ -1,38 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2015 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.
-#
-############################################################################
-
-px4_add_library(modules__muorb__adsp
-	px4muorb.cpp
-	uORBFastRpcChannel.cpp
-)
-target_include_directories(modules__muorb__adsp PRIVATE ${PX4_SOURCE_DIR}/platforms/common/uORB)