Serial: removed the validateBaudrate function from nuttx and posix platforms and just send out a warning it baudrate is non-standard (#22969)

- Fix some Qurt platform build issues uncovered when changing the posix version of SerialImpl

boards/modalai/fc-v2/default.px4board

@@ -24,6 +24,7 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
 CONFIG_DRIVERS_PWM_OUT=y
+CONFIG_DRIVERS_RC_CRSF_RC=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_MODULES_AIRSPEED_SELECTOR=y

boards/modalai/fc-v2/scripts/run_docker.sh

@@ -0,0 +1,5 @@
+#!/bin/bash
+
+# Run this from the px4 project top level directory
+docker run -it --rm --privileged -v `pwd`:/usr/local/workspace px4io/px4-dev-nuttx-focal:2022-08-12
+

boards/modalai/voxl2/default.px4board

@@ -6,6 +6,7 @@ CONFIG_DRIVERS_ACTUATORS_VOXL_ESC=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_QSHELL_POSIX=y
+CONFIG_DRIVERS_RC_CRSF_RC=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_VOXL2_IO=y
 CONFIG_MODULES_COMMANDER=y

platforms/nuttx/src/px4/common/SerialImpl.cpp

@@ -68,28 +68,11 @@ SerialImpl::~SerialImpl()
 	}
 }
 
-bool SerialImpl::validateBaudrate(uint32_t baudrate)
-{
-	return ((baudrate == 9600) ||
-		(baudrate == 19200) ||
-		(baudrate == 38400) ||
-		(baudrate == 57600) ||
-		(baudrate == 115200) ||
-		(baudrate == 230400) ||
-		(baudrate == 460800) ||
-		(baudrate == 921600));
-}
-
 bool SerialImpl::configure()
 {
 	/* process baud rate */
 	int speed;
 
-	if (! validateBaudrate(_baudrate)) {
-		PX4_ERR("ERR: unknown baudrate: %lu", _baudrate);
-		return false;
-	}
-
 	switch (_baudrate) {
 	case 9600:   speed = B9600;   break;
 
@@ -116,8 +99,9 @@ bool SerialImpl::configure()
 	case 921600: speed = B921600; break;
 
 	default:
-		PX4_ERR("ERR: unknown baudrate: %lu", _baudrate);
+		speed = _baudrate;
-		return false;
+		PX4_WARN("Using non-standard baudrate: %lu", _baudrate);
+		break;
 	}
 
 	struct termios uart_config;
@@ -374,11 +358,6 @@ uint32_t SerialImpl::getBaudrate() const
 
 bool SerialImpl::setBaudrate(uint32_t baudrate)
 {
-	if (! validateBaudrate(baudrate)) {
-		PX4_ERR("ERR: invalid baudrate: %lu", baudrate);
-		return false;
-	}
-
 	// check if already configured
 	if ((baudrate == _baudrate) && _open) {
 		return true;

platforms/nuttx/src/px4/common/include/SerialImpl.hpp

@@ -109,7 +109,6 @@ private:
 	StopBits _stopbits{StopBits::One};
 	FlowControl _flowcontrol{FlowControl::Disabled};
 
-	bool validateBaudrate(uint32_t baudrate);
 	bool configure();
 
 	bool _single_wire_mode{false};

platforms/posix/include/SerialImpl.hpp

@@ -109,7 +109,6 @@ private:
 	StopBits _stopbits{StopBits::One};
 	FlowControl _flowcontrol{FlowControl::Disabled};
 
-	bool validateBaudrate(uint32_t baudrate);
 	bool configure();
 
 	bool _single_wire_mode{false};

platforms/posix/src/px4/common/SerialImpl.cpp

@@ -66,28 +66,11 @@ SerialImpl::~SerialImpl()
 	}
 }
 
-bool SerialImpl::validateBaudrate(uint32_t baudrate)
-{
-	return ((baudrate == 9600) ||
-		(baudrate == 19200) ||
-		(baudrate == 38400) ||
-		(baudrate == 57600) ||
-		(baudrate == 115200) ||
-		(baudrate == 230400) ||
-		(baudrate == 460800) ||
-		(baudrate == 921600));
-}
-
 bool SerialImpl::configure()
 {
 	/* process baud rate */
 	int speed;
 
-	if (! validateBaudrate(_baudrate)) {
-		PX4_ERR("ERR: unknown baudrate: %u", _baudrate);
-		return false;
-	}
-
 	switch (_baudrate) {
 	case 9600:   speed = B9600;   break;
 
@@ -114,8 +97,9 @@ bool SerialImpl::configure()
 	case 921600: speed = B921600; break;
 
 	default:
-		PX4_ERR("ERR: unknown baudrate: %d", _baudrate);
+		speed = _baudrate;
-		return false;
+		PX4_WARN("Using non-standard baudrate: %u", _baudrate);
+		break;
 	}
 
 	struct termios uart_config;
@@ -366,11 +350,6 @@ uint32_t SerialImpl::getBaudrate() const
 
 bool SerialImpl::setBaudrate(uint32_t baudrate)
 {
-	if (! validateBaudrate(baudrate)) {
-		PX4_ERR("ERR: invalid baudrate: %u", baudrate);
-		return false;
-	}
-
 	// check if already configured
 	if ((baudrate == _baudrate) && _open) {
 		return true;

platforms/qurt/cmake/px4_impl_os.cmake

@@ -124,13 +124,7 @@ endfunction()
 #
 function(px4_os_add_flags)
 
-	set(DSPAL_ROOT platforms/qurt/dspal)
 	include_directories(
-		${DSPAL_ROOT}/include
-		${DSPAL_ROOT}/sys
-		${DSPAL_ROOT}/sys/sys
-
-		platforms/posix/include
 		platforms/qurt/include
 	)
 

platforms/qurt/include/crc32.h

@@ -0,0 +1,83 @@
+/****************************************************************************
+ * include/crc.h
+ *
+ *   Copyright (C) 2010 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * 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 NuttX 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.
+ *
+ ****************************************************************************/
+
+#ifndef __INCLUDE_CRC32_H
+#define __INCLUDE_CRC32_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <sys/types.h>
+#include <stdint.h>
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+#ifdef __cplusplus
+#define EXTERN extern "C"
+extern "C" {
+#else
+#define EXTERN extern
+#endif
+
+/****************************************************************************
+ * Name: crc32part
+ *
+ * Description:
+ *   Continue CRC calculation on a part of the buffer.
+ *
+ ****************************************************************************/
+
+EXTERN uint32_t crc32part(const uint8_t *src, size_t len,
+			  uint32_t crc32val);
+
+/****************************************************************************
+ * Name: crc32
+ *
+ * Description:
+ *   Return a 32-bit CRC of the contents of the 'src' buffer, length 'len'
+ *
+ ****************************************************************************/
+
+EXTERN uint32_t crc32(const uint8_t *src, size_t len);
+
+#undef EXTERN
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __INCLUDE_CRC32_H */

platforms/qurt/include/queue.h

@@ -0,0 +1,134 @@
+/************************************************************************
+ * include/queue.h
+ *
+ *   Copyright (C) 2007-2009 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * 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 NuttX 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.
+ *
+ ************************************************************************/
+
+#ifndef __INCLUDE_QUEUE_H
+#define __INCLUDE_QUEUE_H
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <sys/types.h>
+
+#ifdef __cplusplus
+#include <cstddef>	// NULL
+#else
+#include <stddef.h>	// NULL
+#endif
+
+/************************************************************************
+ * Pre-processor Definitions
+ ************************************************************************/
+
+#define sq_init(q) do { (q)->head = NULL; (q)->tail = NULL; } while (0)
+#define dq_init(q) do { (q)->head = NULL; (q)->tail = NULL; } while (0)
+
+#define sq_next(p) ((p)->flink)
+#define dq_next(p) ((p)->flink)
+#define dq_prev(p) ((p)->blink)
+
+#define sq_empty(q) ((q)->head == NULL)
+#define dq_empty(q) ((q)->head == NULL)
+
+#define sq_peek(q)  ((q)->head)
+#define dq_peek(q)  ((q)->head)
+
+// Required for Linux
+#define FAR
+
+/************************************************************************
+ * Global Type Declarations
+ ************************************************************************/
+
+struct sq_entry_s {
+	FAR struct sq_entry_s *flink;
+};
+typedef struct sq_entry_s sq_entry_t;
+
+struct dq_entry_s {
+	FAR struct dq_entry_s *flink;
+	FAR struct dq_entry_s *blink;
+};
+typedef struct dq_entry_s dq_entry_t;
+
+struct sq_queue_s {
+	FAR sq_entry_t *head;
+	FAR sq_entry_t *tail;
+};
+typedef struct sq_queue_s  sq_queue_t;
+
+struct dq_queue_s {
+	FAR dq_entry_t *head;
+	FAR dq_entry_t *tail;
+};
+typedef struct dq_queue_s dq_queue_t;
+
+/************************************************************************
+ * Global Function Prototypes
+ ************************************************************************/
+
+#ifdef __cplusplus
+#define EXTERN extern "C"
+extern "C" {
+#else
+#define EXTERN extern
+#endif
+
+EXTERN void  sq_addfirst(FAR sq_entry_t *node, sq_queue_t *queue);
+EXTERN void  dq_addfirst(FAR dq_entry_t *node, dq_queue_t *queue);
+EXTERN void  sq_addlast(FAR sq_entry_t *node, sq_queue_t *queue);
+EXTERN void  dq_addlast(FAR dq_entry_t *node, dq_queue_t *queue);
+EXTERN void  sq_addafter(FAR sq_entry_t *prev, FAR sq_entry_t *node,
+			 sq_queue_t *queue);
+EXTERN void  dq_addafter(FAR dq_entry_t *prev, FAR dq_entry_t *node,
+			 dq_queue_t *queue);
+EXTERN void  dq_addbefore(FAR dq_entry_t *next, FAR dq_entry_t *node,
+			  dq_queue_t *queue);
+
+EXTERN FAR sq_entry_t *sq_remafter(FAR sq_entry_t *node, sq_queue_t *queue);
+EXTERN void            sq_rem(FAR sq_entry_t *node, sq_queue_t *queue);
+EXTERN void            dq_rem(FAR dq_entry_t *node, dq_queue_t *queue);
+EXTERN FAR sq_entry_t *sq_remlast(sq_queue_t *queue);
+EXTERN FAR dq_entry_t *dq_remlast(dq_queue_t *queue);
+EXTERN FAR sq_entry_t *sq_remfirst(sq_queue_t *queue);
+EXTERN FAR dq_entry_t *dq_remfirst(dq_queue_t *queue);
+
+#undef EXTERN
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __INCLUDE_QUEUE_H_ */
+

platforms/qurt/include/system_config.h

@@ -0,0 +1,65 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2017 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file system_config.h
+ *
+ * Definitions used by all SITL and Linux targets
+ */
+
+#pragma once
+
+#define PX4_CPU_UUID_BYTE_LENGTH 16
+#define PX4_CPU_UUID_WORD32_LENGTH 4
+
+#define PX4_CPU_MFGUID_BYTE_LENGTH              PX4_CPU_UUID_BYTE_LENGTH
+#define PX4_CPU_UUID_WORD32_UNIQUE_H            2 /* Most significant digits change the least */
+#define PX4_CPU_UUID_WORD32_UNIQUE_M            1 /* Middle significant digits */
+#define PX4_CPU_UUID_WORD32_UNIQUE_L            0 /* Least significant digits change the most */
+#define PX4_CPU_UUID_WORD32_FORMAT_SIZE         (PX4_CPU_UUID_WORD32_LENGTH-1+(2*PX4_CPU_UUID_BYTE_LENGTH)+1)
+#define PX4_CPU_MFGUID_FORMAT_SIZE              ((2*PX4_CPU_MFGUID_BYTE_LENGTH)+1)
+
+#define BOARD_OVERRIDE_CPU_VERSION (-1)
+#define board_mcu_version(rev, revstr, errata) BOARD_OVERRIDE_CPU_VERSION
+
+#define BOARD_HAS_NO_UUID
+
+#define CONFIG_NFILE_STREAMS 1
+#define CONFIG_SCHED_WORKQUEUE 1
+#define CONFIG_SCHED_HPWORK 1
+#define CONFIG_SCHED_LPWORK 1
+
+/** time in ms between checks for work in work queues **/
+#define CONFIG_SCHED_WORKPERIOD 50000
+
+#define CONFIG_SCHED_INSTRUMENTATION 1