VOXL2 specific drivers, modules, and miscellaneous support files (#22588)

platforms/posix/cmake/Toolchain-aarch64-linux-gnu.cmake

@@ -2,16 +2,8 @@
 
 set(triple aarch64-linux-gnu)
 
-if("${PX4_BOARD}" MATCHES "modalai_voxl2")
-	set(CMAKE_LIBRARY_ARCHITECTURE ${ARM_CROSS_GCC_ROOT}/bin/${triple})
-	set(TOOLCHAIN_PREFIX ${ARM_CROSS_GCC_ROOT}/bin/${triple})
-	set(ARM_CROSS_GCC_ROOT $ENV{ARM_CROSS_GCC_ROOT})
-	set(HEXAGON_ARM_SYSROOT $ENV{HEXAGON_ARM_SYSROOT})
-	set(CMAKE_EXE_LINKER_FLAGS "-Wl,-gc-sections -Wl,-rpath-link,${HEXAGON_ARM_SYSROOT}/usr/lib/aarch64-linux-gnu -Wl,-rpath-link,${HEXAGON_ARM_SYSROOT}/lib/aarch64-linux-gnu")
-else()
-	set(CMAKE_LIBRARY_ARCHITECTURE ${triple})
-	set(TOOLCHAIN_PREFIX ${triple})
-endif()
+set(CMAKE_LIBRARY_ARCHITECTURE ${triple})
+set(TOOLCHAIN_PREFIX ${triple})
 
 set(CMAKE_SYSTEM_NAME Linux)
 set(CMAKE_SYSTEM_PROCESSOR arm)

platforms/qurt/cmake/qurt_reqs.cmake

@@ -121,7 +121,8 @@ exec_program(${CMAKE_CXX_COMPILER} ${CMAKE_CURRENT_SOURCE_DIR} ARGS -print-file-
 set(EXTRA_LIBS ${EXTRA_LIBS} ${LIBM})
 
 # Full optimization and Link Time Optimization (LTO)
-set(QURT_OPTIMIZATION_FLAGS -O3 -flto)
+# set(QURT_OPTIMIZATION_FLAGS -O3 -flto)
+set(QURT_OPTIMIZATION_FLAGS -O3) # LTO takes a lot of extra time and doesn't really help much...
 
 # Flags we pass to the C compiler
 list2string(CFLAGS

platforms/qurt/src/px4/common/include/px4_platform/cpuload.h

@@ -0,0 +1,37 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2023 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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+extern "C" float px4muorb_get_cpu_load(void);
+

platforms/qurt/src/px4/drv_hrt.cpp

@@ -116,16 +116,10 @@ hrt_abstime hrt_absolute_time()
 
 int hrt_set_absolute_time_offset(int32_t time_diff_us)
 {
-	dsp_offset = time_diff_us;
+	// dsp_offset = time_diff_us;
 	return 0;
 }
 
-hrt_abstime hrt_elapsed_time_atomic(const volatile hrt_abstime *then)
-{
-	hrt_abstime delta = hrt_absolute_time() - *then;
-	return delta;
-}
-
 void hrt_store_absolute_time(volatile hrt_abstime *t)
 {
 	*t = hrt_absolute_time();

platforms/qurt/src/px4/tasks.cpp

@@ -161,6 +161,9 @@ static px4_task_t px4_task_spawn_internal(const char *name, int priority, px4_ma
 		return -1;
 	}
 
+	char *charPointer = const_cast<char *>(name);
+	taskmap[task_index].argv[0] = charPointer;
+
 	for (i = 0; i < PX4_TASK_MAX_ARGC; i++) {
 		if (i < taskmap[task_index].argc) {
 			int argument_length = strlen(argv[i]);
@@ -172,12 +175,13 @@ static px4_task_t px4_task_spawn_internal(const char *name, int priority, px4_ma
 
 			} else {
 				strcpy(taskmap[task_index].argv_storage[i], argv[i]);
-				taskmap[task_index].argv[i] = taskmap[task_index].argv_storage[i];
+				taskmap[task_index].argv[i + 1] = taskmap[task_index].argv_storage[i];
 			}
 
 		} else {
 			// Must add NULL at end of argv
-			taskmap[task_index].argv[i] = nullptr;
+			taskmap[task_index].argv[i + 1] = nullptr;
+			taskmap[task_index].argc = i + 1;
 			break;
 		}
 	}