boards/modalai: separate voxl2 builds into two board builds instead of single board build with different variants

* Made voxl2 apps processor and slpi dsp processor builds into separate board builds so that they can
more easily be configured independently.

* Removed board specific link library command from px4_config.cmake and moved it to a more generic
board specific solution that can be used by any board that needs custom link libraries.

* Removed redundant cmake command for Qurt

* Removed unused definition from Qurt cmake file

* Removed unnecessary QURT_LIB cmake function

* Reorganized the voxl2 build structure to avoid 4 level board directories.

* Reverted cmake files to remove 4 level board naming code

* Updated documentation

boards/modalai/voxl2-slpi/src/CMakeLists.txt

@@ -1,6 +1,6 @@
 ############################################################################
 #
-# Copyright (c) 2022 ModalAI, Inc. All rights reserved.
+#   Copyright (c) 2022 ModalAI, Inc. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -30,25 +30,8 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
-#
-# Overview:
-# Voxl2 PX4 is built in 2 parts, the part that runs on the
-# application (apps) processor, and the library that is loaded on the DSP.
-#
-############################################################################
 
-include(px4_git)
+add_library(drivers_board
-
+	board_config.h
-list(APPEND CMAKE_MODULE_PATH
+	init.c
-	"${PX4_SOURCE_DIR}/platforms/posix/cmake"
+    )
-)
-
-# set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
-
-add_definitions(-DORB_COMMUNICATOR)
-
-set(CONFIG_PARAM_SERVER "1")
-
-add_definitions( -D__PX4_LINUX )
-
-include(CMakeParseArguments)

boards/modalai/voxl2-slpi/src/board_config.h

@@ -0,0 +1,51 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2022 ModalAI, Inc. 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
+ *
+ * VOXL2 internal definitions
+ */
+
+#pragma once
+
+#define BOARD_HAS_NO_RESET
+#define BOARD_HAS_NO_BOOTLOADER
+#define ORB_COMMUNICATOR 1
+/*
+ * I2C buses
+ */
+#define PX4_NUMBER_I2C_BUSES    3
+
+#include <system_config.h>
+#include <px4_platform_common/board_common.h>

boards/modalai/voxl2-slpi/src/init.c

@@ -0,0 +1,35 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2022 ModalAI, Inc. 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 "board_config.h"
+
+// Place holder for VOXL2-specific early startup code

boards/modalai/voxl2/README.md

@@ -25,10 +25,10 @@ The full instructions are available here:
 - Clone the repo (Don't forget to update and initialize all submodules)
 - In the top level directory
 ```
-px4$ boards/modalai/voxl2/run-docker.sh
+px4$ boards/modalai/voxl2/scripts/run-docker.sh
-root@9373fa1401b8:/usr/local/workspace# boards/modalai/voxl2/clean.sh
+root@9373fa1401b8:/usr/local/workspace# boards/modalai/voxl2/scripts/clean.sh
-root@9373fa1401b8:/usr/local/workspace# boards/modalai/voxl2/build-posix.sh
+root@9373fa1401b8:/usr/local/workspace# boards/modalai/voxl2/scripts/build-apps.sh
-root@9373fa1401b8:/usr/local/workspace# boards/modalai/voxl2/build-qurt.sh
+root@9373fa1401b8:/usr/local/workspace# boards/modalai/voxl2/scripts/build-slpi.sh
 root@9373fa1401b8:/usr/local/workspace# exit
 ```
 
@@ -37,7 +37,7 @@ root@9373fa1401b8:/usr/local/workspace# exit
 Once the DSP and Linux images have been built they can be installed on a VOXL 2
 board using ADB. There is a script to do this.
 ```
-px4$ boards/modalai/voxl2/install-voxl.sh
+px4$ boards/modalai/voxl2/scripts/install-voxl.sh
 ```
 
 ## Running PX4 on VOXL 2
@@ -66,10 +66,17 @@ INFO  [px4] Startup script returned successfully
 pxh>
 ```
 
+## Notes
+
+You cannot cleanly shutdown PX4 with the shutdown command on VOXL 2. You have
+to power cycle the board and restart everything.
+
 ## Tips
 
 Start with a VOXL 2 that only has the system image installed, not the SDK
 
+Run the command ```voxl-px4 -s``` on target to run the self-test
+
 In order to see DSP specific debug messages the mini-dm tool in the Hexagon SDK
 can be used:
 ```

boards/modalai/voxl2/build-qurt.sh

@@ -1,11 +0,0 @@
-#!/bin/bash
-
-echo "*** Starting qurt build ***"
-
-source /home/build-env.sh
-
-make modalai_voxl2_qurt
-
-cat build/modalai_voxl2_default/src/lib/version/build_git_version.h
-
-echo "*** End of qurt build ***"

boards/modalai/voxl2/cmake/link_libraries.cmake

@@ -0,0 +1,7 @@
+
+# libfc_sensor.so is provided in the Docker build environment
+target_link_libraries(px4 PRIVATE
+		/home/libfc_sensor.so
+		px4_layer
+		${module_libraries}
+)

boards/modalai/voxl2/cmake/voxl2_qurt.cmake

@@ -1,43 +0,0 @@
-############################################################################
-#
-# Copyright (c) 2022 ModalAI, Inc. All rights reserved.
-#
-############################################################################
-#
-# This cmake config builds for QURT which is the operating system running on
-# the DSP side of VOXL 2
-#
-# Required environment variables:
-#	HEXAGON_TOOLS_ROOT
-#	HEXAGON_SDK_ROOT
-#
-############################################################################
-
-if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
-	message(FATAL_ERROR "Enviroment variable HEXAGON_SDK_ROOT must be set")
-else()
-	set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
-endif()
-
-if ("$ENV{HEXAGON_TOOLS_ROOT}" STREQUAL "")
-	message(FATAL_ERROR "Environment variable HEXAGON_TOOLS_ROOT must be set")
-else()
-	set(HEXAGON_TOOLS_ROOT $ENV{HEXAGON_TOOLS_ROOT})
-endif()
-
-include(px4_git)
-
-list(APPEND CMAKE_MODULE_PATH
-	"${PX4_SOURCE_DIR}/platforms/qurt/cmake"
-)
-
-include(Toolchain-qurt)
-include(qurt_reqs)
-
-include_directories(${HEXAGON_SDK_INCLUDES})
-
-add_definitions(-DORB_COMMUNICATOR)
-
-set(CONFIG_PARAM_CLIENT "1")
-
-set(DISABLE_PARAMS_MODULE_SCOPING TRUE)

boards/modalai/voxl2/scripts/build-apps.sh

@@ -1,12 +1,11 @@
 #!/bin/bash
 
-echo "*** Starting posix build ***"
+echo "*** Starting apps processor build ***"
 
 source /home/build-env.sh
 
-make modalai_voxl2_default
+make modalai_voxl2
 
 cat build/modalai_voxl2_default/src/lib/version/build_git_version.h
 
-
+echo "*** End of apps processor build ***"
-echo "*** End of posix build ***"

boards/modalai/voxl2/scripts/build-slpi.sh

@@ -0,0 +1,11 @@
+#!/bin/bash
+
+echo "*** Starting qurt slpi build ***"
+
+source /home/build-env.sh
+
+make modalai_voxl2-slpi
+
+cat build/modalai_voxl2-slpi_default/src/lib/version/build_git_version.h
+
+echo "*** End of qurt slpi build ***"

boards/modalai/voxl2/scripts/install-voxl.sh

@@ -1,19 +1,19 @@
 #!/bin/bash
 
-# Push qurt image to voxl2
+# Push slpi image to voxl2
-adb push build/modalai_voxl2_qurt/platforms/qurt/libpx4.so /usr/lib/rfsa/adsp
+adb push build/modalai_voxl2-slpi_default/platforms/qurt/libpx4.so /usr/lib/rfsa/adsp
 
-# Push posix image to voxl2
+# Push apps processor image to voxl2
 adb push build/modalai_voxl2_default/bin/px4 /usr/bin
 
 # Push scripts to voxl2
 adb push build/modalai_voxl2_default/bin/px4-alias.sh /usr/bin
-adb push boards/modalai/voxl2/voxl-px4 /usr/bin
+adb push boards/modalai/voxl2/target/voxl-px4 /usr/bin
 adb shell chmod a+x /usr/bin/px4-alias.sh
 adb shell chmod a+x /usr/bin/voxl-px4
 
 # Push configuration file
 adb shell mkdir -p /etc/modalai
-adb push boards/modalai/voxl2/voxl-px4.config /etc/modalai
+adb push boards/modalai/voxl2/target/voxl-px4.config /etc/modalai
 
 adb shell sync

boards/modalai/voxl2/src/board_config.h

@@ -42,10 +42,9 @@
 #define BOARD_HAS_NO_RESET
 #define BOARD_HAS_NO_BOOTLOADER
 #define ORB_COMMUNICATOR 1
-/*
+
- * I2C buses
+// Define this as empty since there are no I2C buses
- */
+#define BOARD_I2C_BUS_CLOCK_INIT
-#define PX4_NUMBER_I2C_BUSES    3
 
 #include <system_config.h>
 #include <px4_platform_common/board_common.h>

cmake/kconfig.cmake

@@ -34,7 +34,7 @@ if(EXISTS ${BOARD_DEFCONFIG})
     # Depend on BOARD_DEFCONFIG so that we reconfigure on config change
     set_property(DIRECTORY APPEND PROPERTY CMAKE_CONFIGURE_DEPENDS ${BOARD_DEFCONFIG})
 
-    if(${LABEL} MATCHES "default" OR ${LABEL} MATCHES "qurt" OR ${LABEL} MATCHES "recovery" OR ${LABEL} MATCHES "bootloader" OR ${LABEL} MATCHES "canbootloader")
+    if(${LABEL} MATCHES "default" OR ${LABEL} MATCHES "recovery" OR ${LABEL} MATCHES "bootloader" OR ${LABEL} MATCHES "canbootloader")
         # Generate boardconfig from saved defconfig
         execute_process(COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS}
                         ${DEFCONFIG_PATH} ${BOARD_DEFCONFIG}
@@ -228,10 +228,6 @@ if(EXISTS ${BOARD_DEFCONFIG})
 
         # platform-specific include path
         include_directories(${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/src/px4/common/include)
-
-        if(PLATFORM STREQUAL "qurt")
-            include(${PX4_SOURCE_DIR}/boards/modalai/voxl2/cmake/voxl2_qurt.cmake)
-        endif()
     endif()
 
 	if(ARCHITECTURE)

platforms/posix/CMakeLists.txt

@@ -97,18 +97,14 @@ if(EXISTS "${PX4_BOARD_DIR}/cmake/upload.cmake")
 	include(${PX4_BOARD_DIR}/cmake/upload.cmake)
 endif()
 
+# board defined link libraries
+if(EXISTS "${PX4_BOARD_DIR}/cmake/link_libraries.cmake")
+	include(${PX4_BOARD_DIR}/cmake/link_libraries.cmake)
+endif()
 
 if("${PX4_BOARD}" MATCHES "beaglebone_blue")
 	target_link_libraries(px4 PRIVATE robotics_cape)
 
-elseif("${PX4_BOARD}" MATCHES "modalai_voxl2")
-	# libfc_sensor.so is provided in the Docker build environment
-	target_link_libraries(px4 PRIVATE
-			/home/libfc_sensor.so
-			px4_layer
-			${module_libraries}
-	)
-
 elseif("${PX4_BOARD}" MATCHES "emlid_navio2")
 	target_link_libraries(px4 PRIVATE atomic)
 

platforms/qurt/CMakeLists.txt

@@ -33,11 +33,16 @@
 
 get_property(module_libraries GLOBAL PROPERTY PX4_MODULE_LIBRARIES)
 
-QURT_LIB(LIB_NAME px4
+include_directories(
-	SOURCES
+	${CMAKE_CURRENT_BINARY_DIR}
-		${PX4_SOURCE_DIR}/platforms/qurt/unresolved_symbols.c
+	)
-	LINK_LIBS
+
-		modules__muorb__slpi
+add_library(px4 SHARED
-		${module_libraries}
+	${PX4_SOURCE_DIR}/platforms/qurt/unresolved_symbols.c
-		px4_layer
+	)
+
+target_link_libraries(px4
+	modules__muorb__slpi
+	${module_libraries}
+	px4_layer
 	)

platforms/qurt/cmake/px4_impl_os.cmake

@@ -31,6 +31,29 @@
 #
 ############################################################################
 
+if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
+	message(FATAL_ERROR "Enviroment variable HEXAGON_SDK_ROOT must be set")
+else()
+	set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
+endif()
+
+if ("$ENV{HEXAGON_TOOLS_ROOT}" STREQUAL "")
+	message(FATAL_ERROR "Environment variable HEXAGON_TOOLS_ROOT must be set")
+else()
+	set(HEXAGON_TOOLS_ROOT $ENV{HEXAGON_TOOLS_ROOT})
+endif()
+
+include(px4_git)
+
+include(Toolchain-qurt)
+include(qurt_reqs)
+
+include_directories(${HEXAGON_SDK_INCLUDES})
+
+add_definitions(-DORB_COMMUNICATOR)
+
+set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
+
 #=============================================================================
 #
 #	Defined functions in this file

platforms/qurt/cmake/qurt_reqs.cmake

@@ -176,46 +176,3 @@ list2string(CMAKE_EXE_LINKER_FLAGS
 	)
 
 include (CMakeParseArguments)
-
-# Process DSP files
-function (QURT_LIB)
-	set(options)
-	set(oneValueArgs LIB_NAME)
-	set(multiValueArgs SOURCES LINK_LIBS INCS FLAGS)
-	cmake_parse_arguments(QURT_LIB "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN} )
-
-	include_directories(
-		${CMAKE_CURRENT_BINARY_DIR}
-		)
-
-	if ("${QURT_LIB_SOURCES}" STREQUAL "")
-		message(FATAL_ERROR "QURT_LIB called without SOURCES")
-	else()
-		# Build lib that is run on the DSP
-		add_library(${QURT_LIB_LIB_NAME} SHARED
-			${QURT_LIB_SOURCES}
-			)
-
-		if (NOT "${QURT_LIB_FLAGS}" STREQUAL "")
-			set_target_properties(${QURT_LIB_LIB_NAME} PROPERTIES COMPILE_FLAGS "${QURT_LIB_FLAGS}")
-		endif()
-
-		if (NOT "${QURT_LIB_INCS}" STREQUAL "")
-			target_include_directories(${QURT_LIB_LIB_NAME} PUBLIC ${QURT_LIB_INCS})
-		endif()
-
-		target_link_libraries(${QURT_LIB_LIB_NAME}
-			${QURT_LIB_LINK_LIBS}
-			)
-	endif()
-
-	set(DSPLIB_TARGET_PATH "/usr/lib/rfsa/adsp/")
-
-	# Add a rule to load the files onto the target that run in the DSP
-	add_custom_target(lib${QURT_LIB_LIB_NAME}-load
-		DEPENDS ${QURT_LIB_LIB_NAME}
-		COMMAND adb wait-for-device
-		COMMAND adb push lib${QURT_LIB_LIB_NAME}.so ${DSPLIB_TARGET_PATH}
-		COMMAND echo "Pushed lib${QURT_LIB_LIB_NAME}.so and dependencies to ${DSPLIB_TARGET_PATH}"
-		)
-endfunction()