Linux to posix conversion

Changed "linux" target to "posix". Most of the changes are shared with
QuRT and with OSX. The Linux specific parts are in for i2c which uses
<linux/i2c.h> and <linux/i2c-dev.h>.

There is also a check for __PX4_LINUX in mavlink for a tty ioctl that is
not supported.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>

Makefile

@@ -100,8 +100,8 @@ endif
 ifeq ($(PX4_TARGET_OS),nuttx)
 include $(PX4_BASE)makefiles/firmware_nuttx.mk
 endif
-ifeq ($(PX4_TARGET_OS),linux)
-include $(PX4_BASE)makefiles/firmware_linux.mk
+ifeq ($(PX4_TARGET_OS),posix)
+include $(PX4_BASE)makefiles/firmware_posix.mk
 endif
 ifeq ($(PX4_TARGET_OS),qurt)
 include $(PX4_BASE)makefiles/firmware_qurt.mk
@@ -146,8 +146,8 @@ testbuild:
 	$(Q) (cd $(PX4_BASE) && $(MAKE) distclean && $(MAKE) archives && $(MAKE) -j8)
 	$(Q) (zip -r Firmware.zip $(PX4_BASE)/Images)
 
-linuxrun:
-	Tools/linux_run.sh
+posixrun:
+	Tools/posix_run.sh
 
 #
 # Unittest targets. Builds and runs the host-level

makefiles/README.txt

@@ -30,9 +30,9 @@ firmware_nuttx.mk
 
 	Called by firmware.mk to build NuttX based firmware.
 
-firmware_linux.mk
+firmware_posix.mk
 
-	Called by firmware.mk to build Linux (non-ROS) based firmware.
+	Called by firmware.mk to build POSIX (non-ROS) based firmware.
 
 module.mk
 
@@ -46,10 +46,10 @@ nuttx.mk
 	Called by ../Makefile to build or download the NuttX archives if 
 	PX4_TARGET_OS is set to "nuttx".
 
-linux.mk
+posix.mk
 
-	Called by ../Makefile to set Linux specific parameters if 
-	PX4_TARGET_OS is set to "linux".
+	Called by ../Makefile to set POSIX specific parameters if 
+	PX4_TARGET_OS is set to "posix".
 
 upload.mk
 

makefiles/firmware.mk

@@ -360,8 +360,8 @@ $(filter %.S.o,$(OBJS)): $(WORK_DIR)%.S.o: %.S $(GLOBAL_DEPS)
 ifeq ($(PX4_TARGET_OS),nuttx)
 include $(MK_DIR)/nuttx_romfs.mk
 endif
-ifeq ($(PX4_TARGET_OS),linux)
-include $(MK_DIR)/linux_elf.mk
+ifeq ($(PX4_TARGET_OS),posix)
+include $(MK_DIR)/posix_elf.mk
 endif
 ifeq ($(PX4_TARGET_OS),qurt)
 include $(MK_DIR)/qurt_elf.mk

makefiles/posix.mk

@@ -36,5 +36,5 @@
 
 MODULES += \
 		platforms/common \
-		platforms/linux/px4_layer 
+		platforms/posix/px4_layer 
 

makefiles/posix/board_posix.mk

@@ -1,11 +1,11 @@
 #
-# Board-specific definitions for the Linux port of PX4
+# Board-specific definitions for the POSIX port of PX4
 #
 
 #
 # Configure the toolchain
 #
 CONFIG_ARCH			 = NATIVE
-CONFIG_BOARD			 = LINUXTEST
+CONFIG_BOARD			 = POSIXTEST
 
 include $(PX4_MK_DIR)/toolchain_native.mk

makefiles/posix/config_posix_default.mk

@@ -1,12 +1,7 @@
 #
-# Makefile for the Foo *default* configuration
+# Makefile for the POSIXTEST *default* configuration
 #
 
-#
-# Use the configuration's ROMFS.
-#
-#ROMFS_ROOT	 = $(PX4_BASE)/ROMFS/px4fmu_common
-
 #
 # Board support modules
 #
@@ -61,17 +56,17 @@ MODULES		+= lib/conversion
 #
 # Linux port
 #
-MODULES		+= platforms/linux/px4_layer
-MODULES		+= platforms/linux/drivers/accelsim
-MODULES		+= platforms/linux/drivers/gyrosim
-MODULES		+= platforms/linux/drivers/adcsim
-MODULES		+= platforms/linux/drivers/barosim
+MODULES		+= platforms/posix/px4_layer
+MODULES		+= platforms/posix/drivers/accelsim
+MODULES		+= platforms/posix/drivers/gyrosim
+MODULES		+= platforms/posix/drivers/adcsim
+MODULES		+= platforms/posix/drivers/barosim
 
 #
 # Unit tests
 #
-#MODULES		+= platforms/linux/tests/hello
-#MODULES		+= platforms/linux/tests/vcdev_test
-#MODULES		+= platforms/linux/tests/hrt_test
-#MODULES		+= platforms/linux/tests/wqueue
+#MODULES		+= platforms/posix/tests/hello
+#MODULES		+= platforms/posix/tests/vcdev_test
+#MODULES		+= platforms/posix/tests/hrt_test
+#MODULES		+= platforms/posix/tests/wqueue
 

makefiles/posix_elf.mk

@@ -30,7 +30,7 @@
 #
 
 #
-# Makefile for PX4 Linux based firmware images.
+# Makefile for PX4 POSIX based firmware images.
 #
 
 ################################################################################
@@ -56,9 +56,9 @@ $(PRODUCT_SHARED_PRELINK):	$(OBJS) $(MODULE_OBJS) $(LIBRARY_LIBS) $(GLOBAL_DEPS)
 $(PRODUCT_SHARED_LIB):		$(PRODUCT_SHARED_PRELINK)
 	$(call LINK_A,$@,$(PRODUCT_SHARED_PRELINK))
 
-MAIN = $(PX4_BASE)/src/platforms/linux/main.cpp
+MAIN = $(PX4_BASE)/src/platforms/posix/main.cpp
 $(WORK_DIR)mainapp: $(PRODUCT_SHARED_LIB)
-	$(PX4_BASE)/Tools/linux_apps.py > apps.h
+	$(PX4_BASE)/Tools/posix_apps.py > apps.h
 	$(call LINK,$@, -I. $(MAIN) $(PRODUCT_SHARED_LIB))
 
 #

makefiles/setup.mk

@@ -35,9 +35,9 @@
 
 export PX4_TARGET_OS 	 ?= nuttx
 
-# PX4_TARGET_OS	can be nuttx, linux, or qurt
+# PX4_TARGET_OS	can be nuttx, posix, or qurt
 ifeq ($(PX4_TARGET_OS),)
-$(error Use: make PX4_TARGET_OS=<target> where <target> is nuttx, linux, or qurt)
+$(error Use: make PX4_TARGET_OS=<target> where <target> is nuttx, posix, or qurt)
 endif
 
 #

makefiles/toolchain_hexagon.mk

@@ -181,7 +181,7 @@ AFLAGS			 = $(CFLAGS) -D__ASSEMBLY__ \
 			   $(EXTRADEFINES) \
 			   $(EXTRAAFLAGS)
 
-LDSCRIPT		 = $(PX4_BASE)/linux-configs/linuxtest/scripts/ld.script
+LDSCRIPT		 = $(PX4_BASE)/posix-configs/posixtest/scripts/ld.script
 # Flags we pass to the linker
 #
 LDFLAGS			+=  \

makefiles/toolchain_native.mk

@@ -1,7 +1,7 @@
 #
 #   Copyright (C) 2012-2014 PX4 Development Team. All rights reuint32_tserved.
 #
-#   2005 Modified for clang and GCC on Linux:
+#   2005 Modified for clang and GCC on POSIX:
 #        Author: Mark Charlebois <charlebm@gmail.com>
 #
 # Redistribution and use in source and binary forms, with or without
@@ -120,10 +120,10 @@ ifeq ($(CONFIG_BOARD),)
 $(error Board config does not define CONFIG_BOARD)
 endif
 ARCHDEFINES		+= -DCONFIG_ARCH_BOARD_$(CONFIG_BOARD) \
-			-D__PX4_LINUX \
+			-D__PX4_LINUX -D__PX4_POSIX \
 			-Dnoreturn_function= \
 			-I$(PX4_BASE)/src/lib/eigen \
-			-I$(PX4_BASE)/src/platforms/linux/include \
+			-I$(PX4_BASE)/src/platforms/posix/include \
 			-Wno-error=shadow
 
 # optimisation flags
@@ -250,7 +250,7 @@ AFLAGS			 = $(CFLAGS) -D__ASSEMBLY__ \
 			   $(EXTRADEFINES) \
 			   $(EXTRAAFLAGS)
 
-LDSCRIPT		 = $(PX4_BASE)/linux-configs/linuxtest/scripts/ld.script
+LDSCRIPT		 = $(PX4_BASE)/posix-configs/posixtest/scripts/ld.script
 # Flags we pass to the linker
 #
 LDFLAGS			+= $(EXTRALDFLAGS) \

makefiles/upload.mk

@@ -31,7 +31,7 @@ upload-serial-px4fmu-v2:	$(BUNDLE) $(UPLOADER)
 	$(Q) $(PYTHON) -u $(UPLOADER) --port $(SERIAL_PORTS) $(BUNDLE)
 
 upload-serial-aerocore:
-	openocd -f $(PX4_BASE)/makefiles/gumstix-aerocore.cfg -c 'init; reset halt; flash write_image erase $(PX4_BASE)/../Bootloader/px4aerocore_bl.bin 0x08000000; flash write_image erase $(PX4_BASE)/Build/aerocore_default.build/firmware.bin 0x08004000; reset run; exit'
+	openocd -f $(PX4_BASE)/makefiles/nuttx/gumstix-aerocore.cfg -c 'init; reset halt; flash write_image erase $(PX4_BASE)/../Bootloader/px4aerocore_bl.bin 0x08000000; flash write_image erase $(PX4_BASE)/Build/aerocore_default.build/firmware.bin 0x08004000; reset run; exit'
 
 upload-serial-px4-stm32f4discovery:	$(BUNDLE) $(UPLOADER)
 	$(Q) $(PYTHON) -u $(UPLOADER) --port $(SERIAL_PORTS) $(BUNDLE)

src/drivers/blinkm/module.mk

@@ -40,7 +40,7 @@ MODULE_COMMAND	= blinkm
 ifeq ($(PX4_TARGET_OS),nuttx)
 SRCS		= blinkm_nuttx.cpp
 else
-SRCS		= blinkm_linux.cpp
+SRCS		= blinkm_posix.cpp
 endif
 
 MAXOPTIMIZATION	 = -Os

src/drivers/device/device.h

@@ -35,7 +35,7 @@
 
 #ifdef __PX4_NUTTX
 #include "device_nuttx.h"
-#elif defined (__PX4_LINUX)
+#elif defined (__PX4_POSIX)
 #include "vdev.h"
 #endif
 

src/drivers/device/i2c.h

@@ -35,5 +35,5 @@
 #ifdef __PX4_NUTTX
 #include "i2c_nuttx.h"
 #else
-#include "i2c_linux.h"
+#include "i2c_posix.h"
 #endif

src/drivers/device/i2c_posix.cpp

@@ -41,8 +41,10 @@
  */
 
 #include "i2c.h"
+#ifdef __PX4_LINUX
 #include <linux/i2c.h>
 #include <linux/i2c-dev.h>
+#endif
 #include <unistd.h>
 #include <fcntl.h>
 #include <sys/ioctl.h>

src/drivers/device/i2c_posix.h

@@ -43,8 +43,10 @@
 #include "vdev.h"
 
 #include <px4_i2c.h>
+#ifdef __PX4_LINUX
 #include <linux/i2c.h>
 #include <linux/i2c-dev.h>
+#endif
 #include <string>
 
 namespace device __EXPORT

src/drivers/device/module.mk

@@ -44,11 +44,11 @@ SRCS =		  \
 		  spi.cpp \
 		  ringbuffer.cpp
 endif
-ifeq ($(PX4_TARGET_OS),linux)
+ifeq ($(PX4_TARGET_OS),posix)
 SRCS =		  vdev.cpp \
 		  device.cpp \
 		  vdev_posix.cpp \
-		  i2c_linux.cpp  \
+		  i2c_posix.cpp  \
 		  sim.cpp \
 		  ringbuffer.cpp
 endif

src/drivers/drv_gpio.h

@@ -114,14 +114,14 @@
 /* no GPIO driver on the PX4_STM32F4DISCOVERY board */
 #endif
 
-#ifdef CONFIG_ARCH_BOARD_LINUXTEST
-/* no GPIO driver on the LINUXTEST board */
+#ifdef CONFIG_ARCH_BOARD_POSIXTEST
+/* no GPIO driver on the POSIXTEST board */
 #endif
 
 #if !defined(CONFIG_ARCH_BOARD_PX4IO_V1) && !defined(CONFIG_ARCH_BOARD_PX4IO_V2)  && \
 	!defined(CONFIG_ARCH_BOARD_PX4FMU_V1) && !defined(CONFIG_ARCH_BOARD_PX4FMU_V2) && \
 	!defined(CONFIG_ARCH_BOARD_AEROCORE) && !defined(CONFIG_ARCH_BOARD_PX4_STM32F4DISCOVERY) && \
-	!defined(CONFIG_ARCH_BOARD_LINUXTEST)
+	!defined(CONFIG_ARCH_BOARD_POSIXTEST)
 # error No CONFIG_ARCH_BOARD_xxxx set
 #endif
 /*

src/drivers/hil/module.mk

@@ -41,6 +41,6 @@ ifeq ($(PX4_TARGET_OS),nuttx)
 SRCS		= hil.cpp
 MAXOPTIMIZATION	 = -Os
 else
-SRCS		= hil_linux.cpp
+SRCS		= hil_posix.cpp
 endif
 

src/drivers/ms5611/module.mk

@@ -40,7 +40,7 @@ MODULE_COMMAND	= ms5611
 ifeq ($(PX4_TARGET_OS),nuttx)
 SRCS		= ms5611_nuttx.cpp ms5611_spi.cpp ms5611_i2c.cpp
 else
-SRCS		= ms5611_linux.cpp ms5611_spi.cpp ms5611_i2c.cpp ms5611_sim.cpp
+SRCS		= ms5611_posix.cpp ms5611_spi.cpp ms5611_i2c.cpp ms5611_sim.cpp
 endif
 
 MAXOPTIMIZATION	 = -Os

src/drivers/rgbled/module.mk

@@ -7,7 +7,7 @@ MODULE_COMMAND	 = rgbled
 ifeq ($(PX4_TARGET_OS),nuttx)
 SRCS		 = rgbled.cpp
 else
-SRCS		 = rgbled_linux.cpp
+SRCS		 = rgbled_posix.cpp
 endif
 
 MAXOPTIMIZATION	 = -Os

src/lib/mathlib/math/Limits.cpp

@@ -47,7 +47,7 @@
 namespace math
 {
 
-#if !defined(CONFIG_ARCH_ARM) && !defined(__PX4_LINUX)
+#if !defined(CONFIG_ARCH_ARM) && !defined(__PX4_POSIX)
 #define M_PI_F 3.14159265358979323846f
 #endif
 

src/lib/version/version.h

@@ -59,7 +59,7 @@
 #define HW_ARCH "PX4_STM32F4DISCOVERY"
 #endif
 
-#ifdef CONFIG_ARCH_BOARD_LINUXTEST
+#ifdef CONFIG_ARCH_BOARD_POSIXTEST
 #define	HW_ARCH "LINUXTEST"
 #endif
 #endif /* VERSION_H_ */

src/modules/commander/module.mk

@@ -52,7 +52,7 @@ ifdef ($(PX4_TARGET_OS),nuttx)
 SRCS += 
 			state_machine_helper.cpp 
 else
-SRCS +=			state_machine_helper_linux.cpp 
+SRCS +=			state_machine_helper_posix.cpp 
 endif
 
 MODULE_STACKSIZE = 5000

src/modules/mavlink/mavlink_main.h

@@ -35,5 +35,5 @@
 #ifdef __PX4_NUTTX
 #include "mavlink_main_nuttx.h"
 #else
-#include "mavlink_main_linux.h"
+#include "mavlink_main_posix.h"
 #endif

src/modules/mavlink/mavlink_main_posix.h

@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /**
- * @file mavlink_main_linux.h
+ * @file mavlink_main_posix.h
  * MAVLink 1.0 protocol interface definition.
  *
  * @author Lorenz Meier <lm@inf.ethz.ch>

src/modules/mavlink/mavlink_receiver_nuttx.cpp

@@ -41,7 +41,7 @@
  */
 
 /* XXX trim includes */
-#include <px4_config.h>
+#include <nuttx/config.h>
 #include <unistd.h>
 #include <pthread.h>
 #include <stdio.h>

src/modules/mavlink/mavlink_tests/module.mk

@@ -42,7 +42,7 @@ SRCS			= mavlink_tests.cpp \
 ifeq ($(PX4_TARGET_NUTTX),nuttx)
 SRCS += 		../mavlink_ftp_nuttx.cpp 
 else
-SRCS += 		../mavlink_ftp_linux.cpp 
+SRCS += 		../mavlink_ftp_posix.cpp 
 endif
 
 INCLUDE_DIRS	 += $(MAVLINK_SRC)/include/mavlink

src/modules/mavlink/module.mk

@@ -41,9 +41,9 @@ SRCS		 += 	mavlink_main_nuttx.cpp \
 			mavlink_ftp_nuttx.cpp \
 			mavlink_receiver_nuttx.cpp 
 else
-SRCS		 += 	mavlink_main_linux.cpp \
-			mavlink_ftp_linux.cpp \
-			mavlink_receiver_linux.cpp 
+SRCS		 += 	mavlink_main_posix.cpp \
+			mavlink_ftp_posix.cpp \
+			mavlink_receiver_posix.cpp 
 endif
 
 SRCS 		 +=	mavlink.c \

src/modules/sensors/module.mk

@@ -41,7 +41,7 @@ MODULE_PRIORITY	= "SCHED_PRIORITY_MAX-5"
 ifeq ($(PX$_TARGET_OS),nuttx)
 SRCS		= sensors_nuttx.cpp 
 else
-SRCS		= sensors_linux.cpp 
+SRCS		= sensors_posix.cpp 
 endif
 SRCS +=		  sensor_params.c
 

src/modules/sensors/sensors_nuttx.cpp

@@ -46,7 +46,7 @@
  * @author Anton Babushkin <anton@px4.io>
  */
 
-#include <px4_config.h>
+#include <nuttx/config.h>
 
 #include <fcntl.h>
 #include <poll.h>

src/modules/systemlib/param/param.h

@@ -396,7 +396,7 @@ struct param_info_s {
 // See https://llvm.org/bugs/show_bug.cgi?format=multiple&id=18006
 // The following hack is for GCC >=4.8 only. Clang works fine without
 // this.
-#ifdef __PX4_LINUX
+#ifdef __PX4_POSIX
 				__attribute__((aligned(16)));
 #else
 				;

src/platforms/posix/px4_layer/module.mk

@@ -36,8 +36,8 @@
 #
 
 SRCS		 = 	\
-			px4_linux_impl.cpp \
-			px4_linux_tasks.cpp  \
+			px4_posix_impl.cpp \
+			px4_posix_tasks.cpp  \
 			work_thread.c \
 			work_queue.c \
 			work_cancel.c \

src/platforms/posix/px4_layer/px4_posix_impl.cpp

@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /**
- * @file px4_linux_impl.cpp
+ * @file px4_posix_impl.cpp
  *
  * PX4 Middleware Wrapper Linux Implementation
  */

src/platforms/posix/px4_layer/px4_posix_tasks.cpp

@@ -33,7 +33,7 @@
  ****************************************************************************/
 
 /**
- * @file px4_linux_tasks.c
+ * @file px4_posix_tasks.c
  * Implementation of existing task API for Linux
  */
 

src/platforms/posix/px4_layer/queue.c

@@ -35,7 +35,7 @@
  ************************************************************************/
 
 // FIXME - need px4_queue
-#include <platforms/linux/include/queue.h>
+#include <platforms/posix/include/queue.h>
 #include <stddef.h>
 
 __EXPORT void sq_rem(sq_entry_t *node, sq_queue_t *queue);

src/platforms/posix/tests/hello/hello_start_posix.cpp

@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /**
- * @file hello_start_linux.cpp
+ * @file hello_start_posix.cpp
  *
  * @author Thomas Gubler <thomasgubler@gmail.com>
  * @author Mark Charlebois <mcharleb@gmail.com>

src/platforms/posix/tests/hello/module.mk

@@ -38,6 +38,6 @@
 MODULE_COMMAND	= hello
 
 SRCS		= hello_main.cpp \
-		  hello_start_linux.cpp \
+		  hello_start_posix.cpp \
 		  hello_example.cpp
 

src/platforms/posix/tests/hrt_test/hrt_test_start_posix.cpp

@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /**
- * @file hrt_test_start_linux.cpp
+ * @file hrt_test_start_posix.cpp
  *
  * @author Mark Charlebois <mcharleb@gmail.com>
  */

src/platforms/posix/tests/hrt_test/module.mk

@@ -38,6 +38,6 @@
 MODULE_COMMAND	= hrttest
 
 SRCS		= hrt_test_main.cpp \
-		  hrt_test_start_linux.cpp \
+		  hrt_test_start_posix.cpp \
 		  hrt_test.cpp
 

src/platforms/posix/tests/vcdev_test/module.mk

@@ -38,6 +38,6 @@
 MODULE_COMMAND	= vcdevtest
 
 SRCS		= vcdevtest_main.cpp \
-		  vcdevtest_start_linux.cpp \
+		  vcdevtest_start_posix.cpp \
 		  vcdevtest_example.cpp
 

src/platforms/posix/tests/vcdev_test/vcdevtest_start_posix.cpp

@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /**
- * @file vcdevtest_start_linux.cpp
+ * @file vcdevtest_start_posix.cpp
  *
  * @author Thomas Gubler <thomasgubler@gmail.com>
  * @author Mark Charlebois <mcharleb@gmail.com>

src/platforms/posix/tests/wqueue/module.mk

@@ -38,6 +38,6 @@
 MODULE_COMMAND	= wqueue_test
 
 SRCS		= wqueue_main.cpp \
-		  wqueue_start_linux.cpp \
+		  wqueue_start_posix.cpp \
 		  wqueue_test.cpp
 

src/platforms/posix/tests/wqueue/wqueue_start_poosix.cpp

@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /**
- * @file wqueue_start_linux.cpp
+ * @file wqueue_start_posix.cpp
  *
  * @author Thomas Gubler <thomasgubler@gmail.com>
  * @author Mark Charlebois <mcharleb@gmail.com>

src/platforms/px4_adc.h

@@ -48,7 +48,7 @@
  * Building for NuttX
  */
 #include <nuttx/analog/adc.h>
-#elif defined(__PX4_LINUX)
+#elif defined(__PX4_POSIX)
 
 // FIXME - this needs to be a px4_adc_msg_s type
 // Curently copied from NuttX