Restructure platform support

.gitignore

@@ -74,7 +74,7 @@ vectorcontrol/
 .idea
 cmake-build-*/
 
-posix-configs/SITL/init/test/*_generated
+platforms/posix/posix-configs/SITL/init/test/*_generated
 
 parameters.md
 airframes.md

.gitmodules

@@ -4,12 +4,6 @@
 [submodule "mavlink/include/mavlink/v2.0"]
 	path = mavlink/include/mavlink/v2.0
 	url = https://github.com/mavlink/c_library_v2.git
-[submodule "NuttX"]
-	path = NuttX
-	url = https://github.com/PX4/PX4NuttX.git
-[submodule "src/modules/uavcan/libuavcan"]
-	path = src/modules/uavcan/libuavcan
-	url = https://github.com/UAVCAN/libuavcan.git
 [submodule "Tools/genmsg"]
 	path = Tools/genmsg
 	url = https://github.com/ros/genmsg.git
@@ -31,12 +25,18 @@
 [submodule "src/lib/ecl"]
 	path = src/lib/ecl
 	url = https://github.com/PX4/ecl.git
-[submodule "cmake/cmake_hexagon"]
-	path = cmake/cmake_hexagon
-	url = https://github.com/ATLFlight/cmake_hexagon
 [submodule "src/drivers/gps/devices"]
 	path = src/drivers/gps/devices
 	url = https://github.com/PX4/GpsDrivers.git
 [submodule "src/lib/micro-CDR"]
 	path = src/lib/micro-CDR
 	url = https://github.com/eProsima/micro-CDR.git
+[submodule "platforms/nuttx/src/modules/uavcan/libuavcan"]
+	path = platforms/nuttx/src/modules/uavcan/libuavcan
+	url = https://github.com/UAVCAN/libuavcan.git
+[submodule "platforms/nuttx/NuttX"]
+	path = platforms/nuttx/NuttX
+	url = https://github.com/PX4/PX4NuttX.git
+[submodule "platforms/qurt/cmake/cmake_hexagon"]
+	path = platforms/qurt/cmake/cmake_hexagon
+	url = https://github.com/ATLFlight/cmake_hexagon

CMakeLists.txt

@@ -133,7 +133,7 @@ list(GET config_args 1 BOARD)
 list(GET config_args 2 LABEL)
 set(target_name "${OS}-${BOARD}-${LABEL}")
 
-file(GLOB_RECURSE configs RELATIVE cmake/configs "cmake/configs/*.cmake")
+file(GLOB_RECURSE configs RELATIVE platforms/${OS}/cmake/configs "cmake/configs/*.cmake")
 set_property(CACHE CONFIG PROPERTY STRINGS ${configs})
 
 set(THREADS "4" CACHE STRING "number of threads to use for external build processes")
@@ -145,6 +145,7 @@ if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
 endif()
 
 list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/cmake")
+list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/platforms/${OS}/cmake")
 message(STATUS "CMAKE_MODULE_PATH: ${CMAKE_MODULE_PATH}")
 set(config_module "configs/${CONFIG}")
 include(${config_module})
@@ -447,7 +448,11 @@ foreach(module ${config_module_list})
 		STRING(REGEX REPLACE "/" "__" EXT_MODULE_PREFIX ${EXT_MODULE})
 		add_subdirectory(${module} ${PX4_BINARY_DIR}/${EXT_MODULE_PREFIX})
 	else()
-		add_subdirectory(src/${module})
+		if (EXISTS ${PX4_SOURCE_DIR}/platforms/${OS}/src/${module}/CMakeLists.txt)
+			add_subdirectory(platforms/${OS}/src/${module})
+		else()
+			add_subdirectory(src/${module})
+		endif()
 	endif()
 	px4_mangle_name(${module} mangled_name)
 	list(APPEND module_libraries ${mangled_name})
@@ -456,7 +461,7 @@ endforeach()
 # Keep track of external shared libs required for modules
 set(module_external_libraries "${module_external_libraries}" CACHE INTERNAL "module_external_libraries")
 
-add_subdirectory(src/firmware/${OS})
+add_subdirectory(platforms/${OS}/src/firmware/${OS})
 
 if (config_io_board)
 	add_subdirectory(src/modules/px4iofirmware)

Makefile

@@ -146,7 +146,7 @@ define colorecho
 endef
 
 # Get a list of all config targets.
-ALL_CONFIG_TARGETS := $(basename $(shell find "$(SRC_DIR)/cmake/configs" ! -name '*_common*' ! -name '*_sdflight_*' -name '*.cmake' -print | sed  -e 's:^.*/::' | sort))
+ALL_CONFIG_TARGETS := $(basename $(shell find $(SRC_DIR)/platforms/*/cmake/configs ! -name '*_common*' ! -name '*_sdflight_*' -name '*.cmake' -print | sed  -e 's:^.*/::' | sort))
 # Strip off leading nuttx_
 NUTTX_CONFIG_TARGETS := $(patsubst nuttx_%,%,$(filter nuttx_%,$(ALL_CONFIG_TARGETS)))
 
@@ -395,7 +395,7 @@ distclean: submodulesclean gazeboclean
 	$(if $(filter $(FIRST_ARG),$@), \
 		$(error "$@ cannot be the first argument. Use '$(MAKE) help|list_config_targets' to get a list of all possible [configuration] targets."),@#)
 
-CONFIGS:=$(shell ls cmake/configs | sed -e "s~.*/~~" | sed -e "s~\..*~~")
+CONFIGS:=$(shell ls platforms/*/cmake/configs | sed -e "s~.*/~~" | sed -e "s~\..*~~")
 
 #help:
 #	@echo

Tools/px4airframes/rcout.py

@@ -58,5 +58,6 @@ def __init__(self, groups, board):
         self.output = result;
 
     def Save(self, filename):
+        print("Writing to %s" % filename)
         with codecs.open(filename, 'w', 'utf-8') as f:
             f.write(self.output)

Tools/px_update_git_header.py

@@ -23,12 +23,6 @@
 except:
     git_branch_name = ''
 git_version_short = git_version[0:16]
-nuttx_git_tag = subprocess.check_output('git describe --always --tags --match nuttx-*  --dirty'.split(),
-                                  cwd='NuttX/nuttx', stderr=subprocess.STDOUT).decode('utf-8').strip().replace("nuttx-","v")
-nuttx_git_tag = re.sub('-.*','.0',nuttx_git_tag)
-nuttx_git_version = subprocess.check_output('git rev-parse --verify HEAD'.split(),
-                                      cwd='NuttX/nuttx', stderr=subprocess.STDOUT).decode('utf-8').strip()
-nuttx_git_version_short = nuttx_git_version[0:16]
 mavlink_git_version = subprocess.check_output('git rev-parse --verify HEAD'.split(),
                                       cwd='mavlink/include/mavlink/v2.0', stderr=subprocess.STDOUT).decode('utf-8').strip()
 mavlink_git_version_short = mavlink_git_version[0:16]
@@ -43,19 +37,12 @@
 #define PX4_GIT_TAG_STR  "{git_tag}"
 #define PX4_GIT_BRANCH_NAME  "{git_branch_name}"
 
-#define NUTTX_GIT_VERSION_STR  "{nuttx_git_version}"
-#define NUTTX_GIT_VERSION_BINARY 0x{nuttx_git_version_short}
-#define NUTTX_GIT_TAG_STR  "{nuttx_git_tag}"
-
 #define MAVLINK_LIB_GIT_VERSION_STR  "{mavlink_git_version}"
 #define MAVLINK_LIB_GIT_VERSION_BINARY 0x{mavlink_git_version_short}
 """.format(git_tag=git_tag,
            git_version=git_version,
            git_version_short=git_version_short,
            git_branch_name=git_branch_name,
-           nuttx_git_version=nuttx_git_version,
-           nuttx_git_version_short=nuttx_git_version_short,
-           nuttx_git_tag=nuttx_git_tag,
            mavlink_git_version=mavlink_git_version,
            mavlink_git_version_short=mavlink_git_version_short)
 

Tools/sitl_multiple_run.sh

@@ -16,7 +16,7 @@ port_step=10
 SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
 src_path="$SCRIPT_DIR/.."
 
-rc_script="posix-configs/SITL/init/ekf2/multiple_iris"
+rc_script="platforms/posix/posix-configs/SITL/init/ekf2/multiple_iris"
 build_path=${src_path}/build_posix_sitl_default
 
 echo "killing running instances"

cmake/common/px4_base.cmake

@@ -456,17 +456,32 @@ function(px4_add_common_flags)
 		${_optimization_flags}
 		)
 
+	if ("${BOARD_FILE_DIRS}" STREQUAL "")
+		set(BOARD_FILE_DIRS 
+			${PX4_SOURCE_DIR}/platforms/${OS}/src/drivers/boards/${BOARD}
+			${PX4_SOURCE_DIR}/src/drivers/boards
+		)
+	endif()
+
 	set(added_include_dirs
 		${PX4_BINARY_DIR}
+		${PX4_BINARY_DIR}/platforms/${OS}/src
 		${PX4_BINARY_DIR}/src
+		${PX4_BINARY_DIR}/platforms/${OS}/src/modules
 		${PX4_BINARY_DIR}/src/modules
+		${PX4_BINARY_DIR}/platforms/${OS}/src
 		${PX4_SOURCE_DIR}/src
-		${PX4_SOURCE_DIR}/src/drivers/boards/${BOARD}
+		${PX4_SOURCE_DIR}/platforms/${OS}/src
+		${BOARD_FILE_DIRS}
+		${PX4_SOURCE_DIR}/platforms/${OS}/src/include
 		${PX4_SOURCE_DIR}/src/include
+		${PX4_SOURCE_DIR}/platforms/${OS}/src/lib
 		${PX4_SOURCE_DIR}/src/lib
 		${PX4_SOURCE_DIR}/src/lib/DriverFramework/framework/include
 		${PX4_SOURCE_DIR}/src/lib/matrix
+		${PX4_SOURCE_DIR}/platforms/${OS}/src/modules
 		${PX4_SOURCE_DIR}/src/modules
+		${PX4_SOURCE_DIR}/platforms/${OS}/src/platforms
 		${PX4_SOURCE_DIR}/src/platforms
 		)
 

launch/mavros_posix_sitl.launch

@@ -14,7 +14,7 @@
     <arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
     <arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/>
 
-    <arg name="rcS" default="$(find px4)/posix-configs/SITL/init/$(arg est)/$(arg vehicle)"/>
+    <arg name="rcS" default="$(find px4)/platforms/posix/posix-configs/SITL/init/$(arg est)/$(arg vehicle)"/>
 
     <arg name="headless" default="false"/>
     <arg name="gui" default="true"/>

launch/posix_sitl.launch

@@ -11,7 +11,7 @@
     <arg name="vehicle" default="iris"/>
     <arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
     <arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/>
-    <arg name="rcS" default="$(find px4)/posix-configs/SITL/init/$(arg est)/$(arg vehicle)"/>
+    <arg name="rcS" default="$(find px4)/platforms/posix/posix-configs/SITL/init/$(arg est)/$(arg vehicle)"/>
 
     <arg name="headless" default="false"/>
     <arg name="gui" default="true"/>
@@ -40,4 +40,4 @@
 
 </launch>
 
-<!-- vim: set et ft=xml fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : -->
+<!-- vim: set et ft=xml fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : -->

launch/single_vehcile_spawn.launch

@@ -10,7 +10,7 @@
     <arg name="est" default="lpe"/>
     <arg name="vehicle" default="iris"/>
     <arg name="ID" default="1"/>
-    <arg name="rcS" default="$(find px4)/posix-configs/SITL/init/$(arg est)/$(arg vehicle)_$(arg ID)"/>
+    <arg name="rcS" default="$(find px4)/platforms/posix/posix-configs/SITL/init/$(arg est)/$(arg vehicle)_$(arg ID)"/>
     <arg name="mavlink_udp_port" default="14560" />
 
 

platforms/PORTING.md

@@ -0,0 +1,42 @@
+# Porting
+
+The variables ${PX4_SOURCE_DIR}, ${OS} and ${BOARD} are passed by the build system.
+
+## Adding a New Board Config
+
+If the OS is currently supported, but you want to add a new board file, add the file to:
+${PX4_SOURCE_DIR}/platforms/${OS}/cmake/configs/${OS}\_${BOARD}_CONFIG
+
+You can create multiple config files for the same board (e.g test vs default).
+
+If you have a SoC platform that has a single board but multiple builds of PX4 for different processors, and there are shared board files, the ${BOARD_FILE_DIRS} should be set to point to the locations of the board files. If you use src/drivers/boards/common/board_config.h you should add ${PX4_SOURCE_DIR}/src/drivers/boards to ${BOARD_FILE_DIRS} and include "common/board_config.h" in your custom board_config.h.
+
+If not specified in the config file, ${BOARD_FILE_DIRS} defaults to:
+
+```
+set(BOARD_FILE_DIRS ${PX4_SOURCE_DIR}platforms/${OS}/src/drivers/boards/${BOARD} \
+    ${PX4_SOURCE_DIR}/src/drivers/boards)
+```
+## Overriding a Driver or Module
+
+Drivers specified in the config file ${PX4_SOURCE_DIR}/platforms/${OS}/cmake/configs/${OS}\_${BOARD}_CONFIG will use an instance found in ${PX4_SOURCE_DIR}/platforms/${OS}/src/ before looking in src/. For instance, to override the src/drivers/rgbled driver for a new platform, you could create a ${PX4_SOURCE_DIR}/platforms/${OS}/src/drivers/rgbled directory with the modfified CMakeLists.txt and src code to implement the driver.
+
+## Adding New OS Platforms
+
+Platforms must provide the following
+
+* ${PX4_SOURCE_DIR}/platforms/${OS}/
+  - cmake/${OS}/px4_impl_${OS}.cmake
+  - src/firmware/${OS}/CMakeLists.txt
+
+and one or more supported boards:
+
+* ${PX4_SOURCE_DIR}/platforms/${OS}/
+  - cmake/configs/${OS}\_${BOARD}_CONFIG
+  - src/drivers/${BOARD}/board_config.h
+
+and an implementation for the OS:
+
+* ${PX4_SOURCE_DIR}/platforms/${OS}/
+  - src/platforms/${OS}
+

platforms/nuttx/Tools/px_update_git_nuttx_header.py

@@ -0,0 +1,39 @@
+#!/usr/bin/env python
+from __future__ import print_function
+
+import sys
+import subprocess
+import re
+
+filename = sys.argv[1]
+px4_source_dir = sys.argv[2] 
+
+try:
+    fp_header = open(filename, 'r')
+    old_header = fp_header.read()
+except:
+    old_header = ''
+
+nuttx_git_tag = subprocess.check_output('git describe --always --tags --match nuttx-*  --dirty'.split(),
+                                  cwd=px4_source_dir+'/platforms/nuttx/NuttX/nuttx', stderr=subprocess.STDOUT).decode('utf-8').strip().replace("nuttx-","v")
+nuttx_git_tag = re.sub('-.*','.0',nuttx_git_tag)
+nuttx_git_version = subprocess.check_output('git rev-parse --verify HEAD'.split(),
+                                      cwd=px4_source_dir+'/platforms/nuttx/NuttX/nuttx', stderr=subprocess.STDOUT).decode('utf-8').strip()
+nuttx_git_version_short = nuttx_git_version[0:16]
+
+# Generate the header file content
+header = """
+/* Auto Magically Generated file */
+/* Do not edit! */
+#pragma once
+#define NUTTX_GIT_VERSION_STR  "{nuttx_git_version}"
+#define NUTTX_GIT_VERSION_BINARY 0x{nuttx_git_version_short}
+#define NUTTX_GIT_TAG_STR  "{nuttx_git_tag}"
+""".format(nuttx_git_version=nuttx_git_version,
+           nuttx_git_version_short=nuttx_git_version_short,
+           nuttx_git_tag=nuttx_git_tag)
+
+if old_header != header:
+    print('Updating header {}'.format(sys.argv[1]))
+    fp_header = open(filename, 'w')
+    fp_header.write(header)

cmake/configs/nuttx_aerocore2_default.cmake → platforms/nuttx/cmake/configs/nuttx_aerocore2_default.cmake

@@ -2,7 +2,7 @@ include(nuttx/px4_impl_nuttx)
 
 px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
 
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/platforms/nuttx/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
 
 set(config_uavcan_num_ifaces 2)
 

cmake/configs/nuttx_aerofc-v1_default.cmake → platforms/nuttx/cmake/configs/nuttx_aerofc-v1_default.cmake

@@ -2,7 +2,7 @@ include(nuttx/px4_impl_nuttx)
 
 px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
 
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/platforms/nuttx/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
 
 set(config_uavcan_num_ifaces 2)
 

cmake/configs/nuttx_auav-x21_default.cmake → platforms/nuttx/cmake/configs/nuttx_auav-x21_default.cmake

@@ -2,7 +2,7 @@ include(nuttx/px4_impl_nuttx)
 
 px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
 
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/platforms/nuttx/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
 
 set(config_uavcan_num_ifaces 1)
 

cmake/configs/nuttx_crazyflie_default.cmake → platforms/nuttx/cmake/configs/nuttx_crazyflie_default.cmake

@@ -2,7 +2,7 @@ include(nuttx/px4_impl_nuttx)
 
 px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
 
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/platforms/nuttx/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
 
 set(config_module_list
 	#

cmake/configs/nuttx_mindpx-v2_default.cmake → platforms/nuttx/cmake/configs/nuttx_mindpx-v2_default.cmake

@@ -2,7 +2,7 @@ include(nuttx/px4_impl_nuttx)
 
 px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
 
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/platforms/nuttx/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
 
 set(config_uavcan_num_ifaces 1)
 

cmake/configs/nuttx_px4-stm32f4discovery_default.cmake → platforms/nuttx/cmake/configs/nuttx_px4-stm32f4discovery_default.cmake

@@ -2,7 +2,7 @@ include(nuttx/px4_impl_nuttx)
 
 px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
 
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/platforms/nuttx/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
 
 set(config_module_list
 	#