Qurt uORB SLPI Implementation (#20538)

- allow uORB to be compiled and run on the qurt architecture.

boards/modalai/voxl2/default.px4board

@@ -3,3 +3,4 @@ CONFIG_BOARD_LINUX=y
 CONFIG_BOARD_TOOLCHAIN="aarch64-linux-gnu"
 CONFIG_MODULES_MUORB_APPS=y
 CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_UORB=y

boards/modalai/voxl2/qurt.px4board

@@ -1,3 +1,4 @@
 CONFIG_PLATFORM_QURT=y
 CONFIG_BOARD_TOOLCHAIN="qurt"
 CONFIG_MODULES_MUORB_SLPI=y
+CONFIG_SYSTEMCMDS_UORB=y

cmake/px4_add_module.cmake

@@ -170,6 +170,9 @@ function(px4_add_module)
 		if (${PX4_PLATFORM} STREQUAL "nuttx" AND NOT CONFIG_BUILD_FLAT AND KERNEL)
 			target_link_libraries(${MODULE} PRIVATE kernel_parameters_interface px4_kernel_layer uORB_kernel)
 			set_property(GLOBAL APPEND PROPERTY PX4_KERNEL_MODULE_LIBRARIES ${MODULE})
+		elseif(${PX4_PLATFORM} STREQUAL "qurt")
+			target_link_libraries(${MODULE} PRIVATE px4_layer uORB)
+			set_property(GLOBAL APPEND PROPERTY PX4_MODULE_LIBRARIES ${MODULE})
 		else()
 			target_link_libraries(${MODULE} PRIVATE parameters_interface px4_layer uORB)
 			set_property(GLOBAL APPEND PROPERTY PX4_MODULE_LIBRARIES ${MODULE})

platforms/common/CMakeLists.txt

@@ -33,7 +33,7 @@
 
 set(SRCS)
 
-if(NOT "${PX4_BOARD}" MATCHES "io-v2" AND NOT "${PX4_BOARD_LABEL}" MATCHES "bootloader")
+if(NOT "${PX4_PLATFORM}" MATCHES "qurt" AND NOT "${PX4_BOARD}" MATCHES "io-v2" AND NOT "${PX4_BOARD_LABEL}" MATCHES "bootloader")
 	list(APPEND SRCS
 		px4_log.cpp
 		px4_log_history.cpp

platforms/common/include/px4_platform_common/log.h

@@ -67,6 +67,7 @@ __END_DECLS
 
 #if defined(__PX4_QURT)
 #include "qurt_log.h"
+#include <px4_platform_common/defines.h>
 /****************************************************************************
  * Messages that should never be filtered or compiled out
  ****************************************************************************/

platforms/qurt/CMakeLists.txt

@@ -31,12 +31,13 @@
 #
 ############################################################################
 
-set(module_libraries modules__muorb__slpi)
+get_property(module_libraries GLOBAL PROPERTY PX4_MODULE_LIBRARIES)
 
 QURT_LIB(LIB_NAME px4
 	SOURCES
 		${PX4_SOURCE_DIR}/platforms/qurt/unresolved_symbols.c
 	LINK_LIBS
+		modules__muorb__slpi
 		${module_libraries}
 		px4_layer
 	)

platforms/qurt/include/qurt_reqs.h

@@ -36,13 +36,13 @@
 
 #pragma once
 
-#ifdef __cplusplus
+#include <pthread.h>
-extern "C" {
+#include <visibility.h>
-#endif
+
+__BEGIN_DECLS
 
 typedef unsigned long useconds_t;
 int usleep(useconds_t usec);
+int pthread_setname_np(pthread_t __target_thread, const char *__name);
 
-#ifdef __cplusplus
+__END_DECLS
-}
-#endif

platforms/qurt/src/px4/CMakeLists.txt

@@ -35,6 +35,7 @@
 set(QURT_LAYER_SRCS
 	drv_hrt.cpp
 	tasks.cpp
+	px4_qurt_impl.cpp
 	)
 
 add_library(px4_layer

platforms/qurt/src/px4/px4_qurt_impl.cpp

@@ -0,0 +1,39 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2022 ModalAI, Inc. 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 <px4_platform_common/defines.h>
+
+__BEGIN_DECLS
+
+long PX4_TICKS_PER_SEC = 1000L;
+
+__END_DECLS