enable px4 flight for excelsior(legacy)

Makefile

@@ -153,10 +153,11 @@ broadcast: posix_sitl_broadcast
 eagle_default: posix_eagle_default qurt_eagle_default
 eagle_legacy_default: posix_eagle_legacy qurt_eagle_legacy
 excelsior_default: posix_excelsior_default qurt_excelsior_default
+excelsior_legacy_default: posix_excelsior_legacy qurt_excelsior_legacy
 
 
 # All targets with just dependencies but no recipe must either be marked as phony (or have the special @: as recipe).
-.PHONY: all posix broadcast eagle_default eagle_legacy_default excelsior_default all_nuttx_targets
+.PHONY: all posix broadcast eagle_default eagle_legacy_default excelsior_legacy_default excelsior_default all_nuttx_targets
 
 # Other targets
 # --------------------------------------------------------------------

cmake/configs/posix_eagle_legacy.cmake

@@ -1,78 +1,15 @@
-include(posix/px4_impl_posix)
+# Eagle is the code name of a board currently in development.
+#
+# This cmake config builds for POSIX, so the part of the flight stack running
+# on the Linux side of the Snapdragon.
+
+include(configs/posix_sdflight_legacy)
 
 set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-arm-linux-gnueabihf.cmake)
 
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
-
-set(config_generate_parameters_scope ALL)
-
-# Get $QC_SOC_TARGET from environment if existing.
-if (DEFINED ENV{QC_SOC_TARGET})
-	set(QC_SOC_TARGET $ENV{QC_SOC_TARGET})
-else()
-	set(QC_SOC_TARGET "APQ8074")
-endif()
-
-set(CONFIG_SHMEM "1")
-
 # This definition allows to differentiate if this just the usual POSIX build
 # or if it is for the Snapdragon.
 add_definitions(
-	-D__PX4_POSIX_EAGLE
+    -D__PX4_POSIX_EAGLE
     -D__USING_SNAPDRAGON_LEGACY_DRIVER
-	)
+)
-
-set(config_module_list
-	drivers/device
-	drivers/blinkm
-	drivers/pwm_out_sim
-	drivers/rgbled
-	drivers/led
-	drivers/boards/sitl
-	drivers/qshell/posix
-
-	systemcmds/param
-	systemcmds/mixer
-	systemcmds/ver
-	systemcmds/topic_listener
-
-	modules/mavlink
-
-	modules/attitude_estimator_q
-	modules/position_estimator_inav
-	modules/local_position_estimator
-	modules/ekf2
-
-	modules/mc_pos_control
-	modules/mc_att_control
-
-	modules/param
-	modules/systemlib
-	modules/systemlib/mixer
-	modules/uORB
-	modules/muorb/krait
-	modules/sensors
-	modules/dataman
-	modules/sdlog2
-	modules/logger
-	modules/simulator
-	modules/commander
-	modules/navigator
-
-	lib/controllib
-	lib/mathlib
-	lib/mathlib/math/filter
-	lib/conversion
-	lib/ecl
-	lib/geo
-	lib/geo_lookup
-	lib/terrain_estimation
-	lib/runway_takeoff
-	lib/tailsitter_recovery
-	lib/version
-	lib/DriverFramework/framework
-
-	platforms/common
-	platforms/posix/px4_layer
-	platforms/posix/work_queue
-	)

cmake/configs/posix_excelsior_default.cmake

@@ -3,8 +3,9 @@
 # This cmake config builds for POSIX, so the part of the flight stack running
 # on the Linux side of the Snapdragon.
 include(configs/posix_sdflight_default)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-arm-oemllib32-linux-gnueabi.cmake)
 
 # This definition allows to differentiate the specific board.
 add_definitions(
 	-D__PX4_POSIX_EXCELSIOR
-)
+)

cmake/configs/posix_excelsior_legacy.cmake

@@ -0,0 +1,14 @@
+# Excelsior is the code name of a board currently in development.
+#
+# This cmake config builds for POSIX, so the part of the flight stack running
+# on the Linux side of the Snapdragon.
+
+include(configs/posix_sdflight_legacy)
+
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-arm-oemllib32-linux-gnueabi.cmake)
+# This definition allows to differentiate if this just the usual POSIX build
+# or if it is for the Snapdragon.
+add_definitions(
+    -D__PX4_POSIX_EXCELSIOR
+    -D__USING_SNAPDRAGON_LEGACY_DRIVER
+)

cmake/configs/posix_sdflight_legacy.cmake

@@ -0,0 +1,70 @@
+include(posix/px4_impl_posix)
+
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
+
+set(config_generate_parameters_scope ALL)
+
+# Get $QC_SOC_TARGET from environment if existing.
+if (DEFINED ENV{QC_SOC_TARGET})
+	set(QC_SOC_TARGET $ENV{QC_SOC_TARGET})
+else()
+	set(QC_SOC_TARGET "APQ8074")
+endif()
+
+set(CONFIG_SHMEM "1")
+
+
+set(config_module_list
+	drivers/device
+	drivers/blinkm
+	drivers/pwm_out_sim
+	drivers/rgbled
+	drivers/led
+	drivers/boards/sitl
+	drivers/qshell/posix
+
+	systemcmds/param
+	systemcmds/mixer
+	systemcmds/ver
+	systemcmds/topic_listener
+
+	modules/mavlink
+
+	modules/attitude_estimator_q
+	modules/position_estimator_inav
+	modules/local_position_estimator
+	modules/ekf2
+
+	modules/mc_pos_control
+	modules/mc_att_control
+
+	modules/param
+	modules/systemlib
+	modules/systemlib/mixer
+	modules/uORB
+	modules/muorb/krait
+	modules/sensors
+	modules/dataman
+	modules/sdlog2
+	modules/logger
+	modules/simulator
+	modules/commander
+	modules/navigator
+
+	lib/controllib
+	lib/mathlib
+	lib/mathlib/math/filter
+	lib/conversion
+	lib/ecl
+	lib/geo
+	lib/geo_lookup
+	lib/terrain_estimation
+	lib/runway_takeoff
+	lib/tailsitter_recovery
+	lib/version
+	lib/DriverFramework/framework
+
+	platforms/common
+	platforms/posix/px4_layer
+	platforms/posix/work_queue
+	)

cmake/configs/qurt_eagle_legacy.cmake

@@ -1,114 +1,12 @@
-include(qurt/px4_impl_qurt)
+# Eagle is the code name of a board currently in development.
-
+#
-if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
+# This cmake config builds for QURT which is the operating system running on
-	message(FATAL_ERROR "Enviroment variable HEXAGON_SDK_ROOT must be set")
+# the DSP side.
-else()
-	set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
-endif()
-
-set(CONFIG_SHMEM "1")
-
-set(config_generate_parameters_scope ALL)
-
-# Get $QC_SOC_TARGET from environment if existing.
-if (DEFINED ENV{QC_SOC_TARGET})
-	set(QC_SOC_TARGET $ENV{QC_SOC_TARGET})
-else()
-	set(QC_SOC_TARGET "APQ8074")
-endif()
-
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
-include(toolchain/Toolchain-qurt)
-include(qurt_flags)
-include_directories(${HEXAGON_SDK_INCLUDES})
 
+# The config between different QURT builds is shared.
+include(configs/qurt_sdflight_legacy)
 add_definitions(
    -D__USING_SNAPDRAGON_LEGACY_DRIVER
    -D__PX4_QURT
    -D__PX4_QURT_EAGLE
    )
-
-set(config_module_list
-	#
-	# Board support modules
-	#
-	drivers/device
-	modules/sensors
-	platforms/posix/drivers/df_mpu9250_wrapper
-	platforms/posix/drivers/df_bmp280_wrapper
-
-	#
-	# System commands
-	#
-	systemcmds/param
-
-	#
-	# Estimation modules
-	#
-	modules/attitude_estimator_q
-	modules/position_estimator_inav
-	modules/local_position_estimator
-	modules/ekf2
-
-	#
-	# Vehicle Control
-	#
-	modules/mc_att_control
-	modules/mc_pos_control
-
-	#
-	# Library modules
-	#
-	modules/param
-	modules/systemlib
-	modules/systemlib/mixer
-	modules/uORB
-	modules/commander
-	modules/land_detector
-
-	#
-	# PX4 drivers
-	#
-	drivers/gps
-	drivers/pwm_out_rc_in
-	drivers/qshell/qurt
-
-	#
-	# FC_ADDON drivers
-	#
-	platforms/qurt/fc_addon/rc_receiver
-	platforms/qurt/fc_addon/uart_esc
-
-	#
-	# Libraries
-	#
-	lib/controllib
-	lib/mathlib
-	lib/mathlib/math/filter
-	lib/geo
-	lib/ecl
-	lib/geo_lookup
-	lib/conversion
-	lib/terrain_estimation
-	lib/runway_takeoff
-	lib/tailsitter_recovery
-	lib/version
-	lib/DriverFramework/framework
-
-	#
-	# QuRT port
-	#
-	platforms/common
-	platforms/qurt/px4_layer
-	platforms/posix/work_queue
-
-	#
-	# sources for muorb over fastrpc
-	#
-	modules/muorb/adsp
-	)
-
-set(config_df_driver_list
-	mpu9250
-	bmp280
-	)

cmake/configs/qurt_excelsior_legacy.cmake

@@ -0,0 +1,14 @@
+# Excelsior is the code name of a board currently in development.
+#
+# This cmake config builds for QURT which is the operating system running on
+# the DSP side.
+
+# The config between different QURT builds is shared.
+include(configs/qurt_sdflight_legacy)
+
+add_definitions(
+   -D__USING_SNAPDRAGON_LEGACY_DRIVER
+   -D__PX4_QURT
+   -D__PX4_QURT_EXCELSIOR
+   )
+

cmake/configs/qurt_sdflight_legacy.cmake

@@ -0,0 +1,108 @@
+include(qurt/px4_impl_qurt)
+
+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()
+
+set(CONFIG_SHMEM "1")
+
+set(config_generate_parameters_scope ALL)
+
+# Get $QC_SOC_TARGET from environment if existing.
+if (DEFINED ENV{QC_SOC_TARGET})
+	set(QC_SOC_TARGET $ENV{QC_SOC_TARGET})
+else()
+	set(QC_SOC_TARGET "APQ8074")
+endif()
+
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
+include(toolchain/Toolchain-qurt)
+include(qurt_flags)
+include_directories(${HEXAGON_SDK_INCLUDES})
+
+set(config_module_list
+	#
+	# Board support modules
+	#
+	drivers/device
+	modules/sensors
+	platforms/posix/drivers/df_mpu9250_wrapper
+	platforms/posix/drivers/df_bmp280_wrapper
+
+	#
+	# System commands
+	#
+	systemcmds/param
+
+	#
+	# Estimation modules
+	#
+	modules/attitude_estimator_q
+	modules/position_estimator_inav
+	modules/local_position_estimator
+	modules/ekf2
+
+	#
+	# Vehicle Control
+	#
+	modules/mc_att_control
+	modules/mc_pos_control
+
+	#
+	# Library modules
+	#
+	modules/param
+	modules/systemlib
+	modules/systemlib/mixer
+	modules/uORB
+	modules/commander
+	modules/land_detector
+
+	#
+	# PX4 drivers
+	#
+	drivers/gps
+	drivers/pwm_out_rc_in
+	drivers/qshell/qurt
+
+	#
+	# FC_ADDON drivers
+	#
+	platforms/qurt/fc_addon/rc_receiver
+	platforms/qurt/fc_addon/uart_esc
+
+	#
+	# Libraries
+	#
+	lib/controllib
+	lib/mathlib
+	lib/mathlib/math/filter
+	lib/geo
+	lib/ecl
+	lib/geo_lookup
+	lib/conversion
+	lib/terrain_estimation
+	lib/runway_takeoff
+	lib/tailsitter_recovery
+	lib/version
+	lib/DriverFramework/framework
+
+	#
+	# QuRT port
+	#
+	platforms/common
+	platforms/qurt/px4_layer
+	platforms/posix/work_queue
+
+	#
+	# sources for muorb over fastrpc
+	#
+	modules/muorb/adsp
+	)
+
+set(config_df_driver_list
+	mpu9250
+	bmp280
+	)

cmake/posix/px4_impl_posix.cmake

@@ -222,7 +222,7 @@ endif()
 set(added_exe_linker_flags)
 
 # This block sets added_c_flags (appends to others).
-if ("${BOARD}" STREQUAL "eagle" OR "${BOARD}" STREQUAL "excelsior")
+if ("${BOARD}" STREQUAL "eagle")
 
 	if ("$ENV{HEXAGON_ARM_SYSROOT}" STREQUAL "")
 		message(FATAL_ERROR "HEXAGON_ARM_SYSROOT not set")
@@ -239,9 +239,35 @@ if ("${BOARD}" STREQUAL "eagle" OR "${BOARD}" STREQUAL "excelsior")
 		)
 
 	list(APPEND added_exe_linker_flags
-		-Wl,-rpath-link,${HEXAGON_ARM_SYSROOT}/usr/lib/arm-linux-gnueabihf
+		-Wl,-rpath-link,${HEXAGON_ARM_SYSROOT}/usr/lib
-		-Wl,-rpath-link,${HEXAGON_ARM_SYSROOT}/lib/arm-linux-gnueabihf
+		-Wl,-rpath-link,${HEXAGON_ARM_SYSROOT}/lib
 		--sysroot=${HEXAGON_ARM_SYSROOT}
+		)
+# This block sets added_c_flags (appends to others).
+elseif ("${BOARD}" STREQUAL "excelsior")
+
+	if ("$ENV{HEXAGON_ARM_SYSROOT}" STREQUAL "")
+		message(FATAL_ERROR "HEXAGON_ARM_SYSROOT not set")
+	else()
+		set(HEXAGON_ARM_SYSROOT $ENV{HEXAGON_ARM_SYSROOT})
+	endif()
+
+	# Add the toolchain specific flags
+
+        set(added_cflags ${POSIX_CMAKE_C_FLAGS} --sysroot=${HEXAGON_ARM_SYSROOT}/lib32-apq8096  -mfloat-abi=softfp -mfpu=neon -mthumb-interwork)
+
+	list(APPEND added_cxx_flags
+		${POSIX_CMAKE_CXX_FLAGS}
+		--sysroot=${HEXAGON_ARM_SYSROOT}/lib32-apq8096  -mfloat-abi=softfp -mfpu=neon -mthumb-interwork
+
+		)
+
+	list(APPEND added_exe_linker_flags
+		-Wl,-rpath-link,${HEXAGON_ARM_SYSROOT}/lib32-apq8096/usr/lib
+		-Wl,-rpath-link,${HEXAGON_ARM_SYSROOT}/lib32-apq8096/lib
+
+		--sysroot=${HEXAGON_ARM_SYSROOT}/lib32-apq8096  -mfloat-abi=softfp -mfpu=neon -mthumb-interwork
+
 		)
 elseif ("${BOARD}" STREQUAL "rpi" AND "$ENV{RPI_USE_CLANG}" STREQUAL "1")
 

posix-configs/excelsior/mainapp.config

@@ -0,0 +1,13 @@
+uorb start
+muorb start
+sdlog2 start -r 100 -e -t -a -b 200
+param set MAV_BROADCAST 1
+param set SDLOG_PRIO_BOOST 3
+dataman start
+navigator start
+mavlink start -u 14556 -r 1000000
+sleep 1
+mavlink stream -u 14556 -s HIGHRES_IMU -r 50
+mavlink stream -u 14556 -s ATTITUDE -r 50
+mavlink stream -u 14556 -s RC_CHANNELS -r 20
+mavlink boot_complete

posix-configs/excelsior/px4.config

@@ -0,0 +1,92 @@
+uorb start
+qshell start
+param set CAL_GYRO0_ID 100
+param set CAL_ACC0_ID 100
+param set CAL_MAG0_ID 101
+param set SYS_AUTOSTART 4001
+param set MAV_TYPE 2
+param set MC_YAW_P 12
+param set MC_YAWRATE_P 0.08
+param set MC_YAWRATE_I 0.0
+param set MC_YAWRATE_D 0
+param set MC_PITCH_P 7.0
+param set MC_PITCHRATE_P 0.08
+param set MC_PITCHRATE_I 0.0
+param set MC_PITCHRATE_D 0.001
+param set MC_ROLL_P 7.0
+param set MC_ROLLRATE_P 0.08
+param set MC_ROLLRATE_I 0.0
+param set MC_ROLLRATE_D 0.001
+param set RC_MAP_THROTTLE 1
+param set RC_MAP_ROLL 2
+param set RC_MAP_PITCH 3
+param set RC_MAP_YAW 4
+param set RC_MAP_MODE_SW 5
+param set RC_MAP_POSCTL_SW 6
+param set RC1_MAX 1900
+param set RC1_MIN 1099
+param set RC1_TRIM 1099
+param set RC1_REV 1
+param set RC2_MAX 1900
+param set RC2_MIN 1099
+param set RC2_TRIM 1500
+param set RC2_REV -1
+param set RC3_MAX 1900
+param set RC3_MIN 1099
+param set RC3_TRIM 1500
+param set RC3_REV 1
+param set RC4_MAX 1900
+param set RC4_MIN 1099
+param set RC4_TRIM 1500
+param set RC4_REV -1
+param set RC5_MAX 1900
+param set RC5_MIN 1099
+param set RC5_TRIM 1500
+param set RC5_REV 1
+param set RC6_MAX 1900
+param set RC6_MIN 1099
+param set RC6_TRIM 1099
+param set RC6_REV 1
+param set ATT_W_MAG 0.00
+param set SENS_BOARD_ROT 4
+param set CAL_GYRO0_XOFF -0.0028
+param set CAL_GYRO0_YOFF -0.0047
+param set CAL_GYRO0_ZOFF -0.0034
+param set CAL_GYRO0_XSCALE 1.0000
+param set CAL_GYRO0_YSCALE 1.0000
+param set CAL_GYRO0_ZSCALE 1.0000
+param set CAL_MAG0_XOFF 0.0000
+param set CAL_MAG0_YOFF 0.0000
+param set CAL_MAG0_ZOFF 0.0000
+param set CAL_MAG0_XSCALE 1.0000
+param set CAL_MAG0_YSCALE 1.0000
+param set CAL_MAG0_ZSCALE 1.0000
+param set CAL_ACC0_XOFF -0.0941
+param set CAL_ACC0_YOFF 0.1168
+param set CAL_ACC0_ZOFF -0.0398
+param set CAL_ACC0_XSCALE 1.0004
+param set CAL_ACC0_YSCALE 0.9974
+param set CAL_ACC0_ZSCALE 0.9951
+param set RC_RECEIVER_TYPE 1
+param set UART_ESC_MODEL 2
+param set UART_ESC_BAUDRTE 250000
+param set UART_ESC_MOTOR1 4
+param set UART_ESC_MOTOR2 2
+param set UART_ESC_MOTOR3 1
+param set UART_ESC_MOTOR4 3
+sleep 1
+df_mpu9250_wrapper start
+df_bmp280_wrapper start
+sensors start
+commander start
+ekf2 start
+land_detector start multicopter
+mc_pos_control start
+mc_att_control start
+uart_esc start -D /dev/tty-1
+rc_receiver start -D /dev/tty-101
+sleep 1
+list_devices
+list_files
+list_tasks
+list_topics

src/modules/commander/accelerometer_calibration.cpp

@@ -169,7 +169,7 @@ typedef struct  {
 
 int do_accel_calibration(orb_advert_t *mavlink_log_pub)
 {
-#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_RPI) && !defined(__PX4_POSIX_BEBOP)
+#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_EXCELSIOR) && !defined(__PX4_POSIX_RPI) && !defined(__PX4_POSIX_BEBOP)
 	int fd;
 #endif
 
@@ -189,7 +189,7 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub)
 
 	/* reset all sensors */
 	for (unsigned s = 0; s < max_accel_sens; s++) {
-#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_RPI) && !defined(__PX4_POSIX_BEBOP)
+#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_EXCELSIOR) && !defined(__PX4_POSIX_RPI) && !defined(__PX4_POSIX_BEBOP)
 		sprintf(str, "%s%u", ACCEL_BASE_DEVICE_PATH, s);
 		/* reset all offsets to zero and all scales to one */
 		fd = px4_open(str, 0);
@@ -323,7 +323,7 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub)
 			return PX4_ERROR;
 		}
 
-#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_RPI) && !defined(__PX4_POSIX_BEBOP)
+#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_EXCELSIOR) && !defined(__PX4_POSIX_RPI) && !defined(__PX4_POSIX_BEBOP)
 		sprintf(str, "%s%u", ACCEL_BASE_DEVICE_PATH, i);
 		fd = px4_open(str, 0);
 
@@ -413,7 +413,7 @@ calibrate_return do_accel_calibration_measurements(orb_advert_t *mavlink_log_pub
 			break;
 		}
 
-#if defined(__PX4_QURT) || defined(__PX4_POSIX_EAGLE) || defined(__PX4_POSIX_RPI) || defined(__PX4_POSIX_BEBOP)
+#if defined(__PX4_QURT) || defined(__PX4_POSIX_EAGLE) || defined(__PX4_POSIX_EXCELSIOR)|| defined(__PX4_POSIX_RPI) || defined(__PX4_POSIX_BEBOP)
 		// For QURT respectively the driver framework, we need to get the device ID by copying one report.
 		struct accel_report	accel_report;
 		orb_copy(ORB_ID(sensor_accel), worker_data.subs[i], &accel_report);

src/modules/commander/gyro_calibration.cpp

@@ -180,7 +180,7 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub)
 
 		// Reset all offsets to 0 and scales to 1
 		(void)memcpy(&worker_data.gyro_scale[s], &gyro_scale_zero, sizeof(gyro_scale_zero));
-#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_RPI) && !defined(__PX4_POSIX_BEBOP)
+#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_EXCELSIOR) && !defined(__PX4_POSIX_RPI) && !defined(__PX4_POSIX_BEBOP)
 		sprintf(str, "%s%u", GYRO_BASE_DEVICE_PATH, s);
 		int fd = px4_open(str, 0);
 		if (fd >= 0) {
@@ -233,7 +233,7 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub)
 	for (unsigned s = 0; s < gyro_count; s++) {
 
 		worker_data.gyro_sensor_sub[s] = orb_subscribe_multi(ORB_ID(sensor_gyro), s);
-#if defined(__PX4_QURT) || defined(__PX4_POSIX_EAGLE) || defined(__PX4_POSIX_RPI) || defined(__PX4_POSIX_BEBOP)
+#if defined(__PX4_QURT) || defined(__PX4_POSIX_EAGLE) || defined(__PX4_POSIX_EXCELSIOR) || defined(__PX4_POSIX_RPI) || defined(__PX4_POSIX_BEBOP)
 		// For QURT respectively the driver framework, we need to get the device ID by copying one report.
 		struct gyro_report gyro_report;
 		orb_copy(ORB_ID(sensor_gyro), worker_data.gyro_sensor_sub[s], &gyro_report);
@@ -331,7 +331,7 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub)
 				(void)sprintf(str, "CAL_GYRO%u_ID", s);
 				failed |= (PX4_OK != param_set_no_notification(param_find(str), &(worker_data.device_id[s])));
 
-#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_RPI) && !defined(__PX4_POSIX_BEBOP)
+#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_EXCELSIOR) && !defined(__PX4_POSIX_RPI) && !defined(__PX4_POSIX_BEBOP)
 				/* apply new scaling and offsets */
 				(void)sprintf(str, "%s%u", GYRO_BASE_DEVICE_PATH, s);
 				int fd = px4_open(str, 0);

src/modules/dataman/dataman.c

@@ -177,7 +177,7 @@ static px4_sem_t g_sys_state_mutex;
 /* The data manager store file handle and file name */
 static int g_fd = -1;
 static int g_task_fd = -1;
-#ifdef __PX4_POSIX_EAGLE
+#if defined(__PX4_POSIX_EAGLE) || defined(__PX4_POSIX_EXCELSIOR)
 static const char *default_device_path = PX4_ROOTFSDIR"/dataman";
 #else
 static const char *default_device_path = PX4_ROOTFSDIR"/fs/microsd/dataman";

src/modules/logger/logger.h

@@ -222,7 +222,7 @@ private:
 	static constexpr size_t 	MAX_TOPICS_NUM = 64; /**< Maximum number of logged topics */
 	static constexpr unsigned	MAX_NO_LOGFOLDER = 999;	/**< Maximum number of log dirs */
 	static constexpr unsigned	MAX_NO_LOGFILE = 999;	/**< Maximum number of log files */
-#ifdef __PX4_POSIX_EAGLE
+#if defined(__PX4_POSIX_EAGLE) || defined(__PX4_POSIX_EXCELSIOR)
 	static constexpr const char	*LOG_ROOT = PX4_ROOTFSDIR"/log";
 #else
 	static constexpr const char 	*LOG_ROOT = PX4_ROOTFSDIR"/fs/microsd/log";

src/modules/mavlink/mavlink_messages.cpp

@@ -377,7 +377,7 @@ private:
 
 	unsigned _write_err_count = 0;
 	static const unsigned write_err_threshold = 5;
-#ifndef __PX4_POSIX_EAGLE
+#if !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_EXCELSIOR)
 	FILE *_fp = nullptr;
 #endif
 
@@ -387,7 +387,7 @@ protected:
 
 	~MavlinkStreamStatustext()
 	{
-#ifndef __PX4_POSIX_EAGLE
+#if !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_EXCELSIOR)
 
 		if (_fp != nullptr) {
 			fclose(_fp);
@@ -413,7 +413,7 @@ protected:
 				mavlink_msg_statustext_send_struct(_mavlink->get_channel(), &msg);
 
 // TODO: the logging doesn't work on Snapdragon yet because of file paths.
-#ifndef __PX4_POSIX_EAGLE
+#if !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_EXCELSIOR)
 				/* write log messages in first instance to disk
 				 * timestamp each message with gps time
 				 */

src/modules/mavlink/mavlink_orb_subscription.cpp

@@ -170,7 +170,7 @@ MavlinkOrbSubscription::is_published()
 	// We are checking now
 	_last_pub_check = now;
 
-#if defined(__PX4_QURT) || defined(__PX4_POSIX_EAGLE)
+#if defined(__PX4_QURT) || defined(__PX4_POSIX_EAGLE) || defined(__PX4_POSIX_EXCELSIOR)
 
 	// Snapdragon has currently no support for orb_exists, therefore
 	// we're not using it.

src/modules/muorb/krait/px4muorb_KraitRpcWrapper.cpp

@@ -84,6 +84,10 @@ int calc_timer_diff_to_dsp_us(int32_t *time_diff_us);
 
 int calc_timer_diff_to_dsp_us(int32_t *time_diff_us)
 {
+#if defined(__PX4_POSIX_EXCELSIOR)
+	*time_diff_us = 0;
+	return 0;
+#endif
 	int fd = open(DSP_TIMER_FILE, O_RDONLY);
 
 	if (fd < 0) {

src/modules/sdlog2/sdlog2.c

@@ -156,7 +156,7 @@ static bool _extended_logging = false;
 static bool _gpstime_only = false;
 static int32_t _utc_offset = 0;
 
-#ifndef __PX4_POSIX_EAGLE
+#if !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_EXCELSIOR)
 #define MOUNTPOINT PX4_ROOTFSDIR"/fs/microsd"
 #else
 #define MOUNTPOINT "/root"
@@ -745,7 +745,7 @@ void sdlog2_start_log()
 	/* initialize log buffer emptying thread */
 	pthread_attr_init(&logwriter_attr);
 
-#ifndef __PX4_POSIX_EAGLE
+#if !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_EXCELSIOR)
 	struct sched_param param;
 	(void)pthread_attr_getschedparam(&logwriter_attr, &param);
 	/* low priority, as this is expensive disk I/O. */

src/modules/uORB/uORBDevices.cpp

@@ -449,6 +449,7 @@ uORB::DeviceNode::publish(const orb_metadata *meta, orb_advert_t handle, const v
 		return ERROR;
 	}
 
+#if !defined(__PX4_QURT_EXCELSIOR) && !defined(__PX4_POSIX_EXCELSIOR)
 	/*
 	 * if the write is successful, send the data over the Multi-ORB link
 	 */
@@ -462,6 +463,7 @@ uORB::DeviceNode::publish(const orb_metadata *meta, orb_advert_t handle, const v
 		}
 	}
 
+#endif
 	return PX4_OK;
 }
 

src/modules/uORB/uORBMain.cpp

@@ -81,7 +81,7 @@ uorb_main(int argc, char *argv[])
 			return -errno;
 		}
 
-#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE)
+#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_EXCELSIOR)
 		/* FIXME: this fails on Snapdragon (see https://github.com/PX4/Firmware/issues/5406),
 		 * so we disable logging messages to the ulog for now. This needs further investigations.
 		 */

src/platforms/posix/main.cpp

@@ -273,7 +273,7 @@ bool px4_exit_requested(void)
 
 static void set_cpu_scaling()
 {
-#ifdef __PX4_POSIX_EAGLE
+#if defined(__PX4_POSIX_EAGLE) || defined(__PX4_POSIX_EXCELSIOR)
 	// On Snapdragon we miss updates in sdlog2 unless all 4 CPUs are run
 	// at the maximum frequency all the time.
 	// Interestingely, cpu0 and cpu3 set the scaling for all 4 CPUs on Snapdragon.

src/platforms/px4_defines.h

@@ -192,7 +192,7 @@ __BEGIN_DECLS
 extern long PX4_TICKS_PER_SEC;
 __END_DECLS
 
-#  if defined(__PX4_POSIX_EAGLE)
+#  if defined(__PX4_POSIX_EAGLE) || defined(__PX4_POSIX_EXCELSIOR)
 #    define PX4_ROOTFSDIR "/home/linaro"
 #  elif defined(__PX4_POSIX_BEBOP)
 #    define PX4_ROOTFSDIR "/data/ftp/internal_000"

src/platforms/qurt/px4_layer/shmem_qurt.c

@@ -49,10 +49,11 @@
 //#define SHMEM_DEBUG
 //#define PARAM_LOCK_DEBUG
 
+static atomic_word_t mem_lock;
+
 int mem_fd;
 unsigned char *map_base, *virt_addr;
 struct shmem_info *shmem_info_p;
-static void *map_memory(off_t target);
 int get_shmem_lock(const char *caller_file_name, int caller_line_number);
 void release_shmem_lock(const char *caller_file_name, int caller_line_number);
 void init_shared_memory(void);
@@ -82,24 +83,16 @@ struct param_wbuf_s {
 };
 extern struct param_wbuf_s *param_find_changed(param_t param);
 
-static void *map_memory(off_t target)
-{
-
-	return (void *)(target + LOCK_SIZE);
-
-}
-
 int get_shmem_lock(const char *caller_file_name, int caller_line_number)
 {
-	unsigned char *lock = (unsigned char *)(MAP_ADDRESS + LOCK_OFFSET);
 	unsigned int i = 0;
 
 #ifdef PARAM_LOCK_DEBUG
-	PX4_INFO("lock value %d before get from %s, line: %d\n", *(unsigned int *)0xfbfc000, strrchr(caller_file_name, '/'),
+	PX4_INFO("lock value %d before get from %s, line: %d\n", mem_lock.value, strrchr(caller_file_name, '/'),
 		 caller_line_number);
 #endif
 
-	while (!atomic_compare_and_set(lock, 1, 0)) {
+	while (!atomic_compare_and_set(&mem_lock, 1, 0)) {
 		i++;
 		usleep(1000);
 
@@ -124,9 +117,7 @@ int get_shmem_lock(const char *caller_file_name, int caller_line_number)
 
 void release_shmem_lock(const char *caller_file_name, int caller_line_number)
 {
-	unsigned char *lock = (unsigned char *)(MAP_ADDRESS + LOCK_OFFSET);
+	atomic_set(&mem_lock, 1);
-
-	*lock = 1;
 
 #ifdef PARAM_LOCK_DEBUG
 	PX4_INFO("release lock, file name: %s, line number: %d.\n",
@@ -138,25 +129,31 @@ void release_shmem_lock(const char *caller_file_name, int caller_line_number)
 
 void init_shared_memory(void)
 {
-	//PX4_INFO("Value at lock address is %d\n", *(unsigned int*)0xfbfc000);
 	int i;
 
 	if (shmem_info_p) {
 		return;
 	}
 
-	virt_addr = map_memory(MAP_ADDRESS);
+	//virt_addr = map_memory(MAP_ADDRESS);
+	map_base = malloc(0x4000);  //16KB
+
+	if (map_base == NULL) {
+		PX4_INFO("adsp memory malloc failed\n");
+		return;
+	}
+
+	virt_addr = map_base;
 	shmem_info_p = (struct shmem_info *) virt_addr;
 
-	//init lock as 1
+	atomic_init(&mem_lock, 1);
-	unsigned char *lock = (unsigned char *)(MAP_ADDRESS + LOCK_OFFSET);
-	*lock = 1;
 
 	for (i = 0; i < MAX_SHMEM_PARAMS / 8 + 1; i++) {
 		shmem_info_p->krait_changed_index[i] = 0;
 	}
 
-	//PX4_INFO("adsp memory mapped\n");
+	PX4_INFO("adsp memory mapped\n");
+
 }
 
 void copy_params_to_shmem(struct param_info_s *param_info_base)