platform: restructure (NuttX) architecture-specific code

updated: tone_alarm, px4io_serial, px4_micro_hal

platforms/qurt/CMakeLists.txt

@@ -5,8 +5,6 @@ include(fastrpc)
 include(qurt_lib)
 include(qurt_flags)
 
-add_subdirectory(src)
-
 include_directories(${CMAKE_CURRENT_BINARY_DIR})
 
 get_property(module_libraries GLOBAL PROPERTY PX4_MODULE_LIBRARIES)

platforms/qurt/cmake/px4_impl_os.cmake

@@ -45,6 +45,7 @@
 # 	Required OS Inteface Functions
 #
 # 		* px4_os_add_flags
+# 		* px4_os_determine_build_chip
 #		* px4_os_prebuild_targets
 #
 
@@ -144,6 +145,23 @@ function(px4_os_add_flags)
 
 endfunction()
 
+#=============================================================================
+#
+#	px4_os_determine_build_chip
+#
+#	Sets PX4_CHIP and PX4_CHIP_MANUFACTURER.
+#
+#	Usage:
+#		px4_os_determine_build_chip()
+#
+function(px4_os_determine_build_chip)
+
+	# always use generic chip and chip manufacturer
+	set(PX4_CHIP "generic" CACHE STRING "PX4 Chip" FORCE)
+	set(PX4_CHIP_MANUFACTURER "generic" CACHE STRING "PX4 Chip Manufacturer" FORCE)
+
+endfunction()
+
 #=============================================================================
 #
 #	px4_os_prebuild_targets

platforms/qurt/src/px4/CMakeLists.txt

@@ -0,0 +1,37 @@
+############################################################################
+#
+#   Copyright (c) 2019 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(common)
+
+add_subdirectory(${PX4_CHIP_MANUFACTURER})
+

platforms/qurt/src/px4/common/CMakeLists.txt

@@ -40,7 +40,7 @@ set(QURT_LAYER_SRCS
 	px4_qurt_impl.cpp
 	px4_qurt_tasks.cpp
 	lib_crc32.c
-	../../../posix/src/px4_layer/drv_hrt.cpp
+	${PX4_SOURCE_DIR}/platforms/posix/src/px4/common/drv_hrt.cpp
 	qurt_stubs.c
 	main.cpp
 	shmem_qurt.cpp
@@ -49,8 +49,8 @@ set(QURT_LAYER_SRCS
 
 if ("${QURT_ENABLE_STUBS}" STREQUAL "1")
 	list(APPEND QURT_LAYER_SRCS
-		../stubs/stubs_posix.c
-		../stubs/stubs_qurt.c
+		stubs/posix.c
+		stubs/qurt.c
 		)
 endif()
 

platforms/qurt/src/px4/common/include/px4_platform/micro_hal.h

@@ -0,0 +1,36 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019 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.
+ *
+ ****************************************************************************/
+#pragma once
+
+#include <px4_platform/micro_hal.h>
+

platforms/qurt/src/px4/common/stubs/posix.c

@@ -0,0 +1,159 @@
+#include <semaphore.h>
+#include <unistd.h>
+#include <pthread.h>
+#include <signal.h>
+#include <time.h>
+
+int sem_init(sem_t *sem, int pshared, unsigned int value)
+{
+	return 1;
+}
+
+int sem_wait(sem_t *sem)
+{
+	return 1;
+}
+
+int sem_destroy(sem_t *sem)
+{
+	return 1;
+}
+
+int sem_post(sem_t *sem)
+{
+	return 1;
+}
+
+int sem_getvalue(sem_t *sem, int *sval)
+{
+	return 1;
+}
+
+int usleep(useconds_t usec)
+{
+	return 0;
+}
+
+pthread_t pthread_self(void)
+{
+	pthread_t x = 0;
+	return x;
+}
+
+
+int pthread_kill(pthread_t thread, int sig)
+{
+	return 1;
+}
+
+void pthread_exit(void *retval)
+{
+}
+
+int pthread_join(pthread_t thread, void **retval)
+{
+	return 1;
+}
+
+int pthread_cancel(pthread_t thread)
+{
+	return 1;
+}
+int pthread_attr_init(pthread_attr_t *attr)
+{
+	return 1;
+}
+
+int pthread_attr_setstacksize(pthread_attr_t *attr, size_t stacksize)
+{
+	return 1;
+}
+
+int pthread_attr_getstacksize(const pthread_attr_t *attr, size_t *stacksize)
+{
+	return 1;
+}
+
+int pthread_attr_setschedparam(pthread_attr_t *attr, const struct sched_param *param)
+{
+	return 1;
+}
+
+int pthread_create(pthread_t *thread, const pthread_attr_t *attr, void *(*start_routine)(void *), void *arg)
+{
+	return 1;
+}
+int pthread_attr_getschedparam(const pthread_attr_t *attr, struct sched_param *param)
+{
+	return 1;
+}
+
+int pthread_attr_destroy(pthread_attr_t *attr)
+{
+	return 1;
+}
+
+int clock_gettime(clockid_t clk_id, struct timespec *tp)
+{
+	return 1;
+}
+
+int pthread_mutex_lock(pthread_mutex_t *mutex)
+{
+	return 1;
+}
+
+int pthread_mutex_unlock(pthread_mutex_t *mutex)
+{
+	return 1;
+}
+
+int pthread_cond_signal(pthread_cond_t *cond)
+{
+	return 1;
+}
+int pthread_mutex_destroy(pthread_mutex_t *mutex)
+{
+	return 1;
+}
+int pthread_mutex_init(pthread_mutex_t *mutex, const pthread_mutexattr_t *attr)
+{
+	return 1;
+}
+
+int pthread_cond_wait(pthread_cond_t *cond, pthread_mutex_t *mutex)
+{
+	return 1;
+}
+
+int pthread_cond_timedwait(pthread_cond_t *cond, pthread_mutex_t *mutex, const struct timespec *abstime)
+{
+	return 1;
+}
+
+int pthread_cond_init(pthread_cond_t *cond, const pthread_condattr_t *attr)
+{
+	return 1;
+}
+int pthread_mutexattr_init(pthread_mutexattr_t *attr)
+{
+	return -1;
+}
+int pthread_mutexattr_destroy(pthread_mutexattr_t *attr)
+{
+	return -1;
+}
+int pthread_mutexattr_settype(pthread_mutexattr_t *attr, int type)
+{
+	return -1;
+}
+
+int pthread_condattr_init(pthread_condattr_t *attr)
+{
+	return -1;
+}
+
+int fsync(int fd)
+{
+	return -1;
+}

platforms/qurt/src/px4/common/stubs/qurt.c

@@ -0,0 +1,64 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 Mark Charlebois. 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 <dlfcn.h>
+#include <qurt_log.h>
+#include <dspal_platform.h>
+
+// This code is never run. It is used solely to test linking in the
+// TravisCI build test to make sure all symbols are resolved.
+__EXPORT int _start_main(void);
+
+void HAP_debug(const char *msg, int level, const char *filename, int line)
+{
+}
+
+void HAP_power_request(int a, int b, int c)
+{
+}
+
+int dlinit(int a, char **b)
+{
+	return 1;
+}
+
+int main(int argc, char *argv[])
+{
+	int ret = 0;
+
+	return ret;
+}
+
+int _start_main()
+{
+	return -1;
+}

platforms/qurt/src/px4/generic/CMakeLists.txt

@@ -0,0 +1,36 @@
+############################################################################
+#
+#   Copyright (c) 2019 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_CHIP})
+

platforms/qurt/src/px4/generic/generic/CMakeLists.txt

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2017 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2019 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
@@ -31,4 +31,5 @@
 #
 ############################################################################
 
-add_subdirectory(px4_layer)
+
+

platforms/qurt/src/px4/generic/generic/include/px4_arch/micro_hal.h

@@ -0,0 +1,36 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019 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.
+ *
+ ****************************************************************************/
+#pragma once
+
+#include <px4_platform/micro_hal.h>
+