SITL: changed posix_default to posix_sitl

The SITL build is now the default posix build.

The linker script for posix was moved to makefiles/posix.
The rc.S file was moved to posix-configs/SITL/init/
The POSIXTEST board definition is now SITL

To run the SITL test run:

make sitlrun

This replaces the make posixrun target.

The build directory is now Build/posix_sitl.build/

Signed-off-by: Mark Charlebois <charlebm@gmail.com>

Makefile

@@ -324,8 +324,8 @@ else
 	export PX4_TARGET_OS=$@
 endif
 
-posixrun:
+sitlrun:
-	Tools/posix_run.sh
+	Tools/sitl_run.sh
 
 qurtrun:
 	make PX4_TARGET_OS=qurt sim

Tools/posix_run.sh

@@ -1,5 +0,0 @@
-#!/bin/bash
-
-mkdir -p Build/posix_default.build/rootfs/fs/microsd
-mkdir -p Build/posix_default.build/rootfs/eeprom
-cd Build/posix_default.build && ./mainapp ../../posix-configs/posixtest/init/rc.S

Tools/sitl_run.sh

@@ -0,0 +1,5 @@
+#!/bin/bash
+
+mkdir -p Build/posix_sitl.build/rootfs/fs/microsd
+mkdir -p Build/posix_sitl.build/rootfs/eeprom
+cd Build/posix_sitl.build && ./mainapp ../../posix-configs/SITL/init/rc.S

makefiles/posix-arm/config_eagle_default.mk

@@ -1,5 +1,5 @@
 #
-# Makefile for the POSIXTEST *default* configuration
+# Makefile for the EAGLE *default* configuration
 #
 
 #

makefiles/posix/board_posix.mk

@@ -1,11 +1,12 @@
 #
 # Board-specific definitions for the POSIX port of PX4
+# for use in SITL testing
 #
 
 #
 # Configure the toolchain
 #
 CONFIG_ARCH			 = NATIVE
-CONFIG_BOARD			 = POSIXTEST
+CONFIG_BOARD			 = SITL
 
 include $(PX4_MK_DIR)/posix/toolchain_native.mk

makefiles/posix/config_posix_sitl.mk

@@ -1,5 +1,5 @@
 #
-# Makefile for the POSIXTEST *default* configuration
+# Makefile for the SITL configuration
 #
 
 #

makefiles/posix/toolchain_native.mk

@@ -262,7 +262,7 @@ AFLAGS			 = $(CFLAGS) -D__ASSEMBLY__ \
 			   $(EXTRADEFINES) \
 			   $(EXTRAAFLAGS)
 
-LDSCRIPT		 = $(PX4_BASE)/posix-configs/posixtest/scripts/ld.script
+LDSCRIPT		 = $(PX4_BASE)/makefiles/posix/ld.script
 # Flags we pass to the linker
 #
 LDFLAGS			+= $(EXTRALDFLAGS) \

src/drivers/drv_gpio.h

@@ -114,14 +114,14 @@
 /* no GPIO driver on the PX4_STM32F4DISCOVERY board */
 #endif
 
-#ifdef CONFIG_ARCH_BOARD_POSIXTEST
+#ifdef CONFIG_ARCH_BOARD_SITL
-/* no GPIO driver on the POSIXTEST board */
+/* no GPIO driver on the SITL configuration */
 #endif
 
 #if !defined(CONFIG_ARCH_BOARD_PX4IO_V1) && !defined(CONFIG_ARCH_BOARD_PX4IO_V2)  && \
 	!defined(CONFIG_ARCH_BOARD_PX4FMU_V1) && !defined(CONFIG_ARCH_BOARD_PX4FMU_V2) && \
 	!defined(CONFIG_ARCH_BOARD_AEROCORE) && !defined(CONFIG_ARCH_BOARD_PX4_STM32F4DISCOVERY) && \
-	!defined(CONFIG_ARCH_BOARD_POSIXTEST)
+	!defined(CONFIG_ARCH_BOARD_SITL)
 # error No CONFIG_ARCH_BOARD_xxxx set
 #endif
 /*

src/lib/version/version.h

@@ -59,7 +59,7 @@
 #define HW_ARCH "PX4_STM32F4DISCOVERY"
 #endif
 
-#ifdef CONFIG_ARCH_BOARD_POSIXTEST
+#ifdef CONFIG_ARCH_BOARD_SITL
 #define	HW_ARCH "LINUXTEST"
 #endif
 #endif /* VERSION_H_ */

src/platforms/posix/drivers/adcsim/adcsim.cpp

@@ -274,7 +274,7 @@ adcsim_main(int argc, char *argv[])
 	int ret = 0;
 
 	if (g_adc == nullptr) {
-		/* XXX this hardcodes the default channel set for POSIXTEST - should be configurable */
+		/* FIXME - this hardcodes the default channel set for SITL - should be configurable */
 		g_adc = new ADCSIM((1 << 10) | (1 << 11) | (1 << 12) | (1 << 13));
 
 		if (g_adc == nullptr) {

src/platforms/px4_config.h

@@ -49,7 +49,7 @@
 #define CONFIG_SCHED_WORKQUEUE 1
 #define CONFIG_SCHED_HPWORK 1
 #define CONFIG_SCHED_LPWORK 1
-#define CONFIG_ARCH_BOARD_POSIXTEST 1
+#define CONFIG_ARCH_BOARD_SITL 1
 
 /** time in ms between checks for work in work queues **/
 #define CONFIG_SCHED_WORKPERIOD 50000