VOXL2 board updates and new Kconfig option for ROOTFSDIR

- also includes a couple of miscellaneous changes to VOXL2 support to show Qurt messages on px4 console and put logs in the proper spot

Kconfig

@@ -73,6 +73,13 @@ menu "Toolchain"
         help
             relative path to the ROMFS root directory
 
+    config BOARD_ROOTFSDIR
+        string "Root directory"
+        depends on PLATFORM_POSIX
+        default "."
+        help
+            Configure the root directory in the file system for PX4 files
+
     config BOARD_IO
         string "IO board name"
         default "px4_io-v2_default"

boards/modalai/voxl2-slpi/src/drivers/icm42688p/ICM42688P.cpp

@@ -414,7 +414,7 @@ bool ICM42688P::Configure()
 	return success;
 }
 
-static bool interrupt_debug = true;
+static bool interrupt_debug = false;
 static uint32_t interrupt_debug_count = 0;
 static const uint32_t interrupt_debug_trigger = 800;
 static hrt_abstime last_interrupt_time = 0;

boards/modalai/voxl2/default.px4board

@@ -17,3 +17,4 @@ CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
 CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_ORB_COMMUNICATOR=y
+CONFIG_BOARD_ROOTFSDIR="/data/px4"

boards/modalai/voxl2/target/voxl-px4.config

@@ -19,5 +19,3 @@ fi
 muorb start
 
 qshell icm42688p start -s
-
-qshell modal_io start

platforms/common/include/px4_platform_common/defines.h

@@ -40,6 +40,8 @@
 #pragma once
 
 #include <sys/ioctl.h>
+#include <px4_boardconfig.h>
+
 
 /****************************************************************************
  * Defines for all platforms.
@@ -95,7 +97,7 @@ __BEGIN_DECLS
 extern long PX4_TICKS_PER_SEC;
 __END_DECLS
 
-#define PX4_ROOTFSDIR "."
+#define PX4_ROOTFSDIR CONFIG_BOARD_ROOTFSDIR
 
 #define PX4_STORAGEDIR PX4_ROOTFSDIR
 

platforms/qurt/include/qurt_log.h

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- * Copyright (C) 2022 ModalAI, Inc. All rights reserved.
+ * Copyright (C) 2022-2023 ModalAI, Inc. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -39,6 +39,8 @@
 
 __BEGIN_DECLS
 
+extern void qurt_log_to_apps(int level, const char *message);
+
 // Defining hap_debug
 void HAP_debug(const char *msg, int level, const char *filename, int line);
 
@@ -51,6 +53,8 @@ static __inline void qurt_log(int level, const char *file, int line,
 	vsnprintf(buf, sizeof(buf), format, args);
 	va_end(args);
 	HAP_debug(buf, level, file, line);
+
+	qurt_log_to_apps(level, buf);
 }
 
 __END_DECLS

platforms/qurt/src/px4/CMakeLists.txt

@@ -37,6 +37,7 @@ set(QURT_LAYER_SRCS
 	tasks.cpp
 	px4_qurt_impl.cpp
 	main.cpp
+	qurt_log.cpp
 	)
 
 add_library(px4_layer

platforms/qurt/src/px4/qurt_log.cpp

@@ -0,0 +1,48 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2023 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 <px4_platform_common/log.h>
+#include <uORB/uORBManager.hpp>
+
+// This function will send a debug or error message up to the apps proc
+// so that it can be displayed and logged. Otherwise the messages are only
+// available with the mini-dm tool that requires adb (i.e. USB cable attached)
+extern "C" void qurt_log_to_apps(int level, const char *message)
+{
+	uORBCommunicator::IChannel *ch = uORB::Manager::get_instance()->get_uorb_communicator();
+
+	if (ch != nullptr) {
+		if (level >= _PX4_LOG_LEVEL_ERROR) { ch->send_message("slpi_error", strlen(message) + 1, (uint8_t *) message); }
+
+		else { ch->send_message("slpi_debug", strlen(message) + 1, (uint8_t *) message); }
+	}
+}