move posix, nuttx, qurt components into platforms

platforms/nuttx/CMakeLists.txt

@@ -1,6 +1,41 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+
 include(common/px4_upload)
 include(cygwin_cygpath)
 
+add_subdirectory(src)
+
 if (NOT FW_NAME)
 	set(FW_NAME ${CONFIG}.elf)
 endif()

platforms/nuttx/cmake/px4_impl_os.cmake

@@ -175,13 +175,17 @@ function(px4_os_add_flags)
 		LINK_DIRS ${LINK_DIRS}
 		DEFINITIONS ${DEFINITIONS})
 
-	set(added_include_dirs
+	include_directories(BEFORE SYSTEM
+		${PX4_BINARY_DIR}/NuttX/nuttx/include
+		${PX4_BINARY_DIR}/NuttX/nuttx/include/cxx
+	)
+
+	include_directories(
 		${PX4_BINARY_DIR}/NuttX/nuttx/arch/arm/src/armv7-m
 		${PX4_BINARY_DIR}/NuttX/nuttx/arch/arm/src/chip
 		${PX4_BINARY_DIR}/NuttX/nuttx/arch/arm/src/common
-		${PX4_BINARY_DIR}/NuttX/nuttx/include
-		${PX4_BINARY_DIR}/NuttX/nuttx/include/cxx
-		${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/apps/include
+
+		${PX4_BINARY_DIR}/NuttX/apps/include
 		)
 
 	#set(added_exe_linker_flags)

platforms/nuttx/src/CMakeLists.txt

@@ -0,0 +1,34 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+
+add_subdirectory(px4_layer)

platforms/nuttx/src/px4_layer/CMakeLists.txt

@@ -0,0 +1,45 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+
+# skip for px4_layer support on an IO board
+if (NOT ${BOARD} MATCHES "px4io")
+
+	px4_add_module(
+		MODULE platform_px4_layer
+		SRCS
+			px4_nuttx_tasks.c
+			px4_nuttx_impl.cpp
+		DEPENDS
+			prebuild_targets
+		)
+endif()

platforms/nuttx/src/px4_layer/px4_nuttx_impl.cpp

@@ -0,0 +1,57 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2014 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 px4_nuttx_impl.cpp
+ *
+ * PX4 Middleware Wrapper NuttX Implementation
+ */
+
+#include <px4_defines.h>
+#include <px4_middleware.h>
+#include <drivers/drv_hrt.h>
+
+namespace px4
+{
+
+void init(int argc, char *argv[], const char *process_name)
+{
+	PX4_WARN("process: %s", process_name);
+}
+
+uint64_t get_time_micros()
+{
+	return hrt_absolute_time();
+}
+
+}

platforms/nuttx/src/px4_layer/px4_nuttx_tasks.c

@@ -0,0 +1,115 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * 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_nuttx_tasks.c
+ * Implementation of existing task API for NuttX
+ */
+
+#include <nuttx/config.h>
+
+#include <sys/wait.h>
+#include <stdbool.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <signal.h>
+#include <string.h>
+#include <sched.h>
+#include <errno.h>
+#include <stdbool.h>
+
+#include <px4_config.h>
+#include <px4_log.h>
+#include <px4_tasks.h>
+
+void
+px4_systemreset(bool to_bootloader)
+{
+	board_set_bootload_mode(to_bootloader ? board_reset_enter_bootloader : board_reset_normal);
+	board_system_reset(to_bootloader ? 1 : 0);
+#if defined BOARD_HAS_NO_RESET
+	/* In case there is no HW support Just exit*/
+	PX4_WARN("System Reset Called");
+	exit(1);
+#endif
+}
+
+int px4_task_spawn_cmd(const char *name, int scheduler, int priority, int stack_size, main_t entry, char *const argv[])
+{
+	int pid;
+
+	sched_lock();
+
+	/* None of the modules access the environment variables (via getenv() for instance), so delete them
+	 * all. They are only used within the startup script, and NuttX automatically exports them to the children
+	 * tasks.
+	 * This frees up a considerable amount of RAM.
+	 */
+	clearenv();
+
+	/* create the task */
+	pid = task_create(name, priority, stack_size, entry, argv);
+
+	if (pid > 0) {
+
+		/* configure the scheduler */
+		struct sched_param param;
+
+		param.sched_priority = priority;
+		sched_setscheduler(pid, scheduler, &param);
+
+		/* XXX do any other private task accounting here before the task starts */
+	}
+
+	sched_unlock();
+
+	return pid;
+}
+
+int px4_task_delete(int pid)
+{
+	return task_delete(pid);
+}
+
+const char *px4_get_taskname(void)
+{
+#if CONFIG_TASK_NAME_SIZE > 0
+	FAR struct tcb_s	*thisproc = sched_self();
+
+	return thisproc->name;
+#else
+	return "app";
+#endif
+}