create PX4 platform layer initialization helper (#11269)

- starts requirements for PX4 modules (hrt, param, etc)

boards/omnibus/f4sd/src/CMakeLists.txt

@@ -42,8 +42,7 @@ px4_add_library(drivers_board
 target_link_libraries(drivers_board
 	PRIVATE
 		drivers__led # drv_led_start
-		nuttx_apps # up_cxxinitialize
 		nuttx_arch # sdio
 		nuttx_drivers # sdio
-		parameters # param_init
+		px4_layer
 )

boards/omnibus/f4sd/src/init.c

@@ -54,7 +54,6 @@
 #include <debug.h>
 #include <errno.h>
 
-#include "platform/cxxinitialize.h"
 #include <nuttx/board.h>
 #include <nuttx/spi/spi.h>
 #include <nuttx/i2c/i2c_master.h>
@@ -72,11 +71,8 @@
 #include <drivers/drv_board_led.h>
 
 #include <systemlib/px4_macros.h>
-#include <systemlib/cpuload.h>
-#include <perf/perf_counter.h>
-#include <systemlib/err.h>
 
-#include <parameters/param.h>
+#include <px4_init.h>
 
 # if defined(FLASH_BASED_PARAMS)
 #  include <parameters/flashparams/flashfs.h>
@@ -260,24 +256,8 @@ static struct spi_dev_s *spi3;
 __EXPORT int board_app_initialize(uintptr_t arg)
 {
 
-#if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)
 
-	/* run C++ ctors before we go any further */
-
-	up_cxxinitialize();
-
-#	if defined(CONFIG_EXAMPLES_NSH_CXXINITIALIZE)
-#  		error CONFIG_EXAMPLES_NSH_CXXINITIALIZE Must not be defined! Use CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE.
-#	endif
-
-#else
-#  error platform is dependent on c++ both CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE must be defined.
-#endif
-
-	/* configure the high-resolution time/callout interface */
-	hrt_init();
-
-	param_init();
+	px4_platform_init();
 
 	/* configure the DMA allocator */
 
@@ -285,11 +265,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		message("DMA alloc FAILED");
 	}
 
-	/* configure CPU load estimation */
-#ifdef CONFIG_SCHED_INSTRUMENTATION
-	cpuload_initialize_once();
-#endif
-
 	/* set up the serial DMA polling */
 	static struct hrt_call serial_dma_call;
 	struct timespec ts;